{"id":"https://openalex.org/W2105107118","doi":"https://doi.org/10.1109/robot.2005.1570492","title":"Control Synthesis for Dynamic Contact Manipulation","display_name":"Control Synthesis for Dynamic Contact Manipulation","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2105107118","doi":"https://doi.org/10.1109/robot.2005.1570492","mag":"2105107118"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/Control_Synthesis_for_Dynamic_Contact_Manipulation/6552431","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"S.S. Srinivasa","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","The Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103703859","display_name":"Michael Erdmann","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M.A. Erdmann","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002872886","display_name":"Matthew T. Mason","orcid":"https://orcid.org/0000-0002-2672-5689"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M.T. Mason","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5077719529"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":8.2535,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.97116346,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"31","issue":null,"first_page":"2523","last_page":"2528"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9988999962806702,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/trajectory","display_name":"Trajectory","score":0.6769737005233765},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6258647441864014},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6159919500350952},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6063846349716187},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5999123454093933},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5951529741287231},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.567484438419342},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.48580265045166016},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4843938946723938},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.48237505555152893},{"id":"https://openalex.org/keywords/coulomb-friction","display_name":"Coulomb friction","score":0.42010512948036194},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.41178521513938904},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3995324969291687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22453367710113525},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15966641902923584},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1378720998764038}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6769737005233765},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6258647441864014},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6159919500350952},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6063846349716187},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5999123454093933},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5951529741287231},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.567484438419342},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48580265045166016},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4843938946723938},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.48237505555152893},{"id":"https://openalex.org/C2986328948","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Coulomb friction","level":3,"score":0.42010512948036194},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.41178521513938904},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3995324969291687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22453367710113525},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15966641902923584},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1378720998764038},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":8,"locations":[{"id":"doi:10.1109/robot.2005.1570492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:figshare.com:article/6552431","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Control_Synthesis_for_Dynamic_Contact_Manipulation/6552431","pdf_url":"https://figshare.com/articles/Control_Synthesis_for_Dynamic_Contact_Manipulation/6552431","source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:repository.cmu.edu:robotics-1233","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1233&context=robotics","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6552431","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.141.5580","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.141.5580","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub4/srinivasa_siddhartha_2005_3/srinivasa_siddhartha_2005_3.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.71.7402","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.71.7402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub4/srinivasa_siddhartha_2005_1/srinivasa_siddhartha_2005_1.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.934.4836","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.934.4836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://repository.cmu.edu/cgi/viewcontent.cgi?article%3D1233%26context%3Drobotics","raw_type":"text"},{"id":"doi:10.1184/r1/6552431.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6552431.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6552431","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Control_Synthesis_for_Dynamic_Contact_Manipulation/6552431","pdf_url":"https://figshare.com/articles/Control_Synthesis_for_Dynamic_Contact_Manipulation/6552431","source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2105107118.pdf"},"referenced_works_count":69,"referenced_works":["https://openalex.org/W70332635","https://openalex.org/W326698129","https://openalex.org/W1136193735","https://openalex.org/W1512267351","https://openalex.org/W1532551972","https://openalex.org/W1584544799","https://openalex.org/W1588450238","https://openalex.org/W1595500933","https://openalex.org/W1691093543","https://openalex.org/W1839894871","https://openalex.org/W1844326508","https://openalex.org/W1887320802","https://openalex.org/W1964552838","https://openalex.org/W1970412155","https://openalex.org/W1976935191","https://openalex.org/W1978413780","https://openalex.org/W2004406110","https://openalex.org/W2007677977","https://openalex.org/W2008731016","https://openalex.org/W2014151532","https://openalex.org/W2016102421","https://openalex.org/W2022020194","https://openalex.org/W2022252807","https://openalex.org/W2024121552","https://openalex.org/W2025438369","https://openalex.org/W2033013465","https://openalex.org/W2048820947","https://openalex.org/W2054438755","https://openalex.org/W2055302917","https://openalex.org/W2059435624","https://openalex.org/W2073454670","https://openalex.org/W2081684462","https://openalex.org/W2088019904","https://openalex.org/W2098572589","https://openalex.org/W2098740543","https://openalex.org/W2105059122","https://openalex.org/W2108816603","https://openalex.org/W2112036576","https://openalex.org/W2113797465","https://openalex.org/W2114112336","https://openalex.org/W2114376626","https://openalex.org/W2115091574","https://openalex.org/W2115659120","https://openalex.org/W2116817751","https://openalex.org/W2122398047","https://openalex.org/W2127705885","https://openalex.org/W2128351799","https://openalex.org/W2128981733","https://openalex.org/W2129199880","https://openalex.org/W2135607541","https://openalex.org/W2136991536","https://openalex.org/W2138061524","https://openalex.org/W2138103143","https://openalex.org/W2140173255","https://openalex.org/W2142682608","https://openalex.org/W2142981033","https://openalex.org/W2144629157","https://openalex.org/W2147465633","https://openalex.org/W2150500908","https://openalex.org/W2153413894","https://openalex.org/W2158428710","https://openalex.org/W2161486070","https://openalex.org/W2167045953","https://openalex.org/W2341171179","https://openalex.org/W2517692099","https://openalex.org/W3140727726","https://openalex.org/W3217399827","https://openalex.org/W4230616527","https://openalex.org/W4231466417"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W2159418100","https://openalex.org/W2113969557","https://openalex.org/W2326061274","https://openalex.org/W3000650229","https://openalex.org/W2153426741"],"abstract_inverted_index":{"We":[0,65,88,115],"explore":[1],"the":[2,14,24,27,31,34,41,44,67,70,78,85,90,100,104,107,112,120,131],"control":[3],"synthesis":[4],"problem":[5,93],"for":[6,99],"a":[7,82,96],"robot":[8,79],"dynamically":[9],"manipulating":[10],"an":[11],"object":[12,25,32],"in":[13,69],"presence":[15],"of":[16,38,43,72,84,124,130],"multiple":[17],"frictional":[18],"contacts.":[19],"Contacts":[20],"occur":[21],"both":[22],"between":[23,30],"and":[26,29,33,53,102,106,122,127],"robot,":[28],"environment.":[35],"Two":[36],"sets":[37],"constraints":[39,49,59,68],"govern":[40],"evolution":[42],"system":[45,86,101,108],"\u2014":[46],"contact":[47,57,73],"velocity":[48],"that":[50,60,118],"prevent":[51],"separation":[52],"cause":[54],"rolling,":[55],"and,":[56],"force":[58],"arise":[61],"from":[62],"Coulomb":[63],"friction.":[64],"combine":[66],"space":[71],"accelerations,":[74],"obtaining":[75],"bounds":[76],"on":[77],"acceleration":[80],"as":[81],"function":[83],"state.":[87],"solve":[89],"motion":[91],"planning":[92],"by":[94,110],"providing":[95],"feasible":[97,113],"path":[98],"generating":[103],"controls":[105],"trajectory":[109],"time-scaling":[111],"path.":[114],"provide":[116],"examples":[117],"illustrate":[119],"merits":[121],"limitations":[123],"our":[125],"technique":[126],"discuss":[128],"some":[129],"open":[132],"problems.":[133]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
