{"id":"https://openalex.org/W2963890559","doi":"https://doi.org/10.1109/iros40897.2019.8968194","title":"Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation","display_name":"Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2963890559","doi":"https://doi.org/10.1109/iros40897.2019.8968194","mag":"2963890559"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.01104","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jean-Pierre Sleiman","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jean-Pierre Sleiman","raw_affiliation_strings":["Robotic Systems Lab ETH Zurich,Zurich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab ETH Zurich,Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jan Carius","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jan Carius","raw_affiliation_strings":["Robotic Systems Lab ETH Zurich,Zurich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab ETH Zurich,Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ruben Grandia","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ruben Grandia","raw_affiliation_strings":["Robotic Systems Lab ETH Zurich,Zurich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab ETH Zurich,Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Martin Wermelinger","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Martin Wermelinger","raw_affiliation_strings":["Robotic Systems Lab ETH Zurich,Zurich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab ETH Zurich,Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"last","author":{"id":null,"display_name":"Marco Hutter","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab ETH Zurich,Zurich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab ETH Zurich,Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.9115,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.98782377,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6814","last_page":"6821"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994999766349792,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9984999895095825,"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/optimal-control","display_name":"Optimal control","score":0.6559000015258789},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6323999762535095},{"id":"https://openalex.org/keywords/complementarity","display_name":"Complementarity (molecular biology)","score":0.545199990272522},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5382000207901001},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5246999859809875},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5149999856948853},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5016999840736389},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4916999936103821}],"concepts":[{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.6559000015258789},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6323999762535095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5695000290870667},{"id":"https://openalex.org/C202269582","wikidata":"https://www.wikidata.org/wiki/Q2644277","display_name":"Complementarity (molecular biology)","level":2,"score":0.545199990272522},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5382000207901001},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5246999859809875},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5149999856948853},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5016999840736389},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4916999936103821},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.41780000925064087},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4154999852180481},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.39399999380111694},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.39250001311302185},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3643999993801117},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3476000130176544},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.305400013923645},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2987000048160553},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2919999957084656},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2775999903678894},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.2750000059604645},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C2989514635","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization problem","level":3,"score":0.2646999955177307},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2628999948501587},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2621000111103058}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8968194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2103.01104","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.01104","pdf_url":"https://arxiv.org/pdf/2103.01104","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.01104","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.01104","pdf_url":"https://arxiv.org/pdf/2103.01104","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1793265611","https://openalex.org/W2020340281","https://openalex.org/W2042408133","https://openalex.org/W2096205446","https://openalex.org/W2101340954","https://openalex.org/W2113115376","https://openalex.org/W2119348011","https://openalex.org/W2130527887","https://openalex.org/W2167340365","https://openalex.org/W2169550240","https://openalex.org/W2221321873","https://openalex.org/W2295899596","https://openalex.org/W2617744508","https://openalex.org/W2806337106","https://openalex.org/W2850053679","https://openalex.org/W2898162031","https://openalex.org/W4237626675","https://openalex.org/W6683526187","https://openalex.org/W6736883094","https://openalex.org/W6746500309"],"related_works":[],"abstract_inverted_index":{"We":[0,84],"present":[1],"a":[2,5,53,57,89,98],"reformulation":[3],"of":[4,34,91,101,107,118,131],"contact-implicit":[6],"optimization":[7],"(CIO)":[8],"approach":[9],"that":[10],"computes":[11],"optimal":[12,47,72,109],"trajectories":[13],"for":[14,42],"rigid-body":[15],"systems":[16],"in":[17,31],"contact-rich":[18],"settings.":[19],"A":[20],"hard-contact":[21],"model":[22],"is":[23,40,50,63],"assumed,":[24],"and":[25,77,116,125],"the":[26,32,66,108,114,119,132],"unilateral":[27],"constraints":[28],"are":[29,121],"imposed":[30],"form":[33],"complementarity":[35],"conditions.":[36],"Newton's":[37],"impact":[38],"law":[39],"adopted":[41],"enhanced":[43],"physical":[44],"correctness.":[45],"The":[46,104],"control":[48,78],"problem":[49,61],"formulated":[51],"as":[52,111,113],"multi-staged":[54],"program":[55],"through":[56,123],"multiple-shooting":[58],"scheme.":[59],"This":[60],"structure":[62],"exploited":[64],"within":[65],"FORCES":[67],"Pro":[68],"framework":[69],"to":[70],"retrieve":[71],"motion":[73],"plans,":[74],"contact":[75],"sequences":[76],"inputs":[79],"with":[80],"increased":[81],"computational":[82],"efficiency.":[83],"investigate":[85],"our":[86],"method":[87],"on":[88,129],"variety":[90],"dynamic":[92,105],"object":[93],"manipulation":[94,133],"tasks,":[95],"performed":[96],"by":[97],"six":[99],"degrees":[100],"freedom":[102],"robot.":[103],"feasibility":[106],"trajectories,":[110],"well":[112],"repeatability":[115],"accuracy":[117],"task-satisfaction":[120],"verified":[122],"simulations":[124],"real":[126],"hardware":[127],"experiments":[128],"one":[130],"problems.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2019-07-30T00:00:00"}
