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Here, we propose a minimally guided framework that automatically discovers whole-body trajectories jointly with contact schedules for solving general loco-manipulation tasks in premodeled environments. The key insight is that multimodal problems of this nature can be formulated and treated within the context of integrated task and motion planning (TAMP). An effective bilevel search strategy was achieved by incorporating domain-specific rules and adequately combining the strengths of different planning techniques: trajectory optimization and informed graph search coupled with sampling-based planning. We showcase emergent behaviors for a quadrupedal mobile manipulator exploiting both prehensile and nonprehensile interactions to perform real-world tasks such as opening\/closing heavy dishwashers and traversing spring-loaded doors. These behaviors were also deployed on the real system using a two-layer whole-body tracking controller.<\/jats:p>","DOI":"10.1126\/scirobotics.adg5014","type":"journal-article","created":{"date-parts":[[2023,8,16]],"date-time":"2023-08-16T17:58:14Z","timestamp":1692208694000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":75,"title":["Versatile multicontact planning and control for legged loco-manipulation"],"prefix":"10.1126","volume":"8","author":[{"given":"Jean-Pierre","family":"Sleiman","sequence":"first","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Farbod","family":"Farshidian","sequence":"additional","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marco","family":"Hutter","sequence":"additional","affiliation":[{"name":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","unstructured":"\u201cNew dog-like robot from Boston Dynamics can open doors (video) \u201d Guardian 12 February 2018; www.theguardian.com\/technology\/video\/2018\/feb\/13\/new-dog-like-robot-from-boston-dynamics-can-open-doors-video"},{"key":"e_1_3_2_3_2","unstructured":"D. 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