{"id":"https://openalex.org/W3206706114","doi":"https://doi.org/10.1109/icra48506.2021.9561352","title":"Dynamic Primitives and Optimal Feedback Control for the Manipulation of Complex Objects","display_name":"Dynamic Primitives and Optimal Feedback Control for the Manipulation of Complex Objects","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206706114","doi":"https://doi.org/10.1109/icra48506.2021.9561352","mag":"3206706114"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018717578","display_name":"Reza Sharif Razavian","orcid":"https://orcid.org/0000-0003-1190-0816"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Reza Sharif Razavian","raw_affiliation_strings":["Departments of Biology, Electrical and Computer Engineering,and Physics, Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Departments of Biology, Electrical and Computer Engineering,and Physics, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086894105","display_name":"Salah Bazzi","orcid":"https://orcid.org/0000-0002-8631-0426"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Salah Bazzi","raw_affiliation_strings":["Departments of Biology, Electrical and Computer Engineering,and Physics, Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Departments of Biology, Electrical and Computer Engineering,and Physics, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025870413","display_name":"Rashida Nayeem","orcid":"https://orcid.org/0000-0001-6749-5077"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rashida Nayeem","raw_affiliation_strings":["Departments of Biology, Electrical and Computer Engineering,and Physics, Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Departments of Biology, Electrical and Computer Engineering,and Physics, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060748141","display_name":"Mohsen Sadeghi","orcid":"https://orcid.org/0000-0003-2573-146X"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohsen Sadeghi","raw_affiliation_strings":["Departments of Biology, Electrical and Computer Engineering,and Physics, Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Departments of Biology, Electrical and Computer Engineering,and Physics, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048636837","display_name":"Dagmar Sternad","orcid":"https://orcid.org/0000-0001-9318-2920"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dagmar Sternad","raw_affiliation_strings":["Departments of Biology, Electrical and Computer Engineering,and Physics, Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Departments of Biology, Electrical and Computer Engineering,and Physics, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5018717578"],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":0.412,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.61672199,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"38","issue":null,"first_page":"7555","last_page":"7562"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7065660357475281},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.5659030675888062},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46494048833847046},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4154247045516968},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3710925579071045},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2973726987838745},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2885056734085083},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.11131861805915833},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10968759655952454},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09725400805473328}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7065660357475281},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.5659030675888062},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46494048833847046},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4154247045516968},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3710925579071045},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2973726987838745},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2885056734085083},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.11131861805915833},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10968759655952454},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09725400805473328}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1527127121","https://openalex.org/W1684361744","https://openalex.org/W1885639605","https://openalex.org/W1956636948","https://openalex.org/W1980440818","https://openalex.org/W1984177076","https://openalex.org/W1986201898","https://openalex.org/W1987710890","https://openalex.org/W1991512494","https://openalex.org/W1992250352","https://openalex.org/W2029058516","https://openalex.org/W2048963734","https://openalex.org/W2049182552","https://openalex.org/W2052742556","https://openalex.org/W2053008048","https://openalex.org/W2060263298","https://openalex.org/W2062630941","https://openalex.org/W2067440245","https://openalex.org/W2069933153","https://openalex.org/W2080487795","https://openalex.org/W2092349579","https://openalex.org/W2101576232","https://openalex.org/W2110304639","https://openalex.org/W2116226448","https://openalex.org/W2130726249","https://openalex.org/W2132600173","https://openalex.org/W2136719407","https://openalex.org/W2143717973","https://openalex.org/W2148852335","https://openalex.org/W2151927054","https://openalex.org/W2160609165","https://openalex.org/W2160917519","https://openalex.org/W2166302491","https://openalex.org/W2167341361","https://openalex.org/W2169187067","https://openalex.org/W2529170537","https://openalex.org/W2561326620","https://openalex.org/W2801816076","https://openalex.org/W2870735678","https://openalex.org/W2895336489","https://openalex.org/W2907763723","https://openalex.org/W2963602540","https://openalex.org/W2967549933","https://openalex.org/W2971761264","https://openalex.org/W2991013770","https://openalex.org/W2994446013","https://openalex.org/W3006211490","https://openalex.org/W3007719011","https://openalex.org/W3010821199","https://openalex.org/W3034951809","https://openalex.org/W3084515838","https://openalex.org/W3091030483","https://openalex.org/W3093886716","https://openalex.org/W3154859047","https://openalex.org/W4211008118","https://openalex.org/W6793999610"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2086351220","https://openalex.org/W2052682608"],"abstract_inverted_index":{"Modern":[0],"computer":[1],"algorithms":[2],"easily":[3],"beat":[4],"world":[5],"champions":[6],"in":[7,19,53,88],"chess":[8],"or":[9,182],"Go,":[10],"but":[11],"state-of-the-art":[12],"robots":[13],"are":[14],"still":[15,191],"outperformed":[16],"by":[17],"two-year-old\u2019s":[18],"manipulating":[20],"the":[21,89,139,154,172,180,183,186,202],"pieces,":[22],"let":[23],"alone":[24],"interacting":[25,176,194],"with":[26,42,80,99,105,177,195],"more":[27],"complex":[28,142,196],"objects.":[29],"This":[30],"work":[31],"studied":[32],"human":[33,67,90,127],"behavior":[34],"when":[35,129,138,175,193],"moving":[36],"an":[37,161],"underactuated":[38],"object,":[39],"a":[40,43,54,61,131,166],"cup":[41],"ball":[44],"rolling":[45],"inside":[46],"creating":[47],"internal":[48,148],"dynamics":[49],"like":[50],"sloshing":[51],"coffee":[52],"cup.":[55],"The":[56,85],"objective":[57],"was":[58],"to":[59,146,164],"develop":[60],"control":[62,91,98,115,190],"model":[63],"that":[64,188],"could":[65,125],"replicate":[66,126],"behavior.":[68],"Human":[69],"movement":[70],"data":[71],"were":[72,107,117],"collected":[73],"for":[74,109,120,171,207],"transporting":[75,130],"this":[76,110,151],"cup-and-ball":[77],"system,":[78],"both":[79],"and":[81,102,159],"without":[82],"external":[83],"perturbations.":[84],"existing":[86],"models":[87,116],"literature,":[92],"including":[93],"maximum":[94],"smoothness,":[95],"optimal":[96,162],"feedback":[97],"minimum":[100],"effort,":[101],"dynamic":[103,157],"primitives":[104,158],"impedance":[106,173],"revisited":[108],"challenging":[111],"task.":[112],"As":[113],"these":[114,198],"primarily":[118],"developed":[119],"unconstrained":[121],"reaching":[122],"movements,":[123],"they":[124,135],"trajectories":[128],"rigid":[132],"object.":[133],"However,":[134],"fell":[136],"short":[137],"object":[140,181],"introduced":[141],"interaction":[143],"forces":[144],"due":[145],"its":[147],"dynamics.":[149],"Therefore,":[150],"study":[152],"extended":[153],"framework":[155],"of":[156,204],"used":[160],"controller":[163],"generate":[165],"maximally":[167],"smooth":[168],"zero-force":[169],"trajectory":[170],"operator":[174],"perturbations":[178],"from":[179],"environment.":[184],"Given":[185],"challenges":[187],"robot":[189],"faces":[192],"objects,":[197],"findings":[199],"may":[200],"inform":[201],"development":[203],"bio-inspired":[205],"controllers":[206],"robotic":[208],"manipulation.":[209]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
