{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T18:14:46Z","timestamp":1779905686154,"version":"3.53.1"},"reference-count":57,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2025,5,30]],"date-time":"2025-05-30T00:00:00Z","timestamp":1748563200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/100015599","name":"Toyota Research Institute","doi-asserted-by":"crossref","id":[{"id":"10.13039\/100015599","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2026,1]]},"abstract":"<jats:p>\n                    Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a surprisingly simple method: inverse dynamics trajectory optimization. While trajectory optimization with inverse dynamics is not new, we introduce a series of incremental innovations that collectively enable fast model predictive control on a variety of challenging manipulation and locomotion tasks. We implement these innovations in an open-source solver and present simulation examples to support the effectiveness of the proposed approach. Additionally, we demonstrate contact-implicit model predictive control on hardware at over 100\u00a0Hz for a 20-degree-of-freedom bi-manual manipulation task. Video and code are available at\n                    <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" ext-link-type=\"uri\" xlink:href=\"https:\/\/idto.github.io\">https:\/\/idto.github.io<\/jats:ext-link>\n                    .\n                  <\/jats:p>","DOI":"10.1177\/02783649251344635","type":"journal-article","created":{"date-parts":[[2025,5,30]],"date-time":"2025-05-30T13:52:09Z","timestamp":1748613129000},"page":"23-40","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":13,"title":["Inverse dynamics trajectory optimization for contact-implicit model predictive control"],"prefix":"10.1177","volume":"45","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5939-353X","authenticated-orcid":false,"given":"Vince","family":"Kurtz","sequence":"first","affiliation":[{"name":"California Institute of Technology"},{"name":"University of Notre Dame"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alejandro","family":"Castro","sequence":"additional","affiliation":[{"name":"Toyota Research Institute"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Aykut \u00d6zg\u00fcn","family":"\u00d6nol","sequence":"additional","affiliation":[{"name":"Toyota Research Institute"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hai","family":"Lin","sequence":"additional","affiliation":[{"name":"University of Notre Dame"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2025,5,30]]},"reference":[{"key":"e_1_3_6_2_1","doi-asserted-by":"crossref","unstructured":"Aydinoglu A Wei A Posa M (2023) Consensus complementarity control for multi-contact mpc. arXiv preprint arXiv:2304.11259.","DOI":"10.1109\/TRO.2024.3435423"},{"key":"e_1_3_6_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-72584-8_19"},{"key":"e_1_3_6_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2852785"},{"key":"e_1_3_6_5_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.038"},{"key":"e_1_3_6_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/SII.2019.8700380"},{"key":"e_1_3_6_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969933"},{"key":"e_1_3_6_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3209077"},{"key":"e_1_3_6_9_1","unstructured":"Castro A Han X Masterjohn J (2023) Irrotational contact fields. arXiv preprint arXiv:2312.03908."},{"key":"e_1_3_6_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3061341"},{"key":"e_1_3_6_11_1","doi-asserted-by":"crossref","unstructured":"Chi C Feng S Du Y et al. 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