{"id":"https://openalex.org/W3130848361","doi":"https://doi.org/10.1109/tro.2023.3250160","title":"Robotic Contact Juggling","display_name":"Robotic Contact Juggling","publication_year":2023,"publication_date":"2023-03-16","ids":{"openalex":"https://openalex.org/W3130848361","doi":"https://doi.org/10.1109/tro.2023.3250160","mag":"3130848361"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3250160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3250160","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5079642872","display_name":"J. Zachary Woodruff","orcid":"https://orcid.org/0000-0001-8253-9621"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"James Zachary Woodruff","raw_affiliation_strings":["Center for Robotics and Biosystems, Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Biosystems, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101845066","display_name":"Kevin Lynch","orcid":"https://orcid.org/0000-0003-3833-6004"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin M. Lynch","raw_affiliation_strings":["Center for Robotics and Biosystems, Northwestern University, Evanston, IL, USA","Northwestern Institute on Complex Systems, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Biosystems, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Northwestern Institute on Complex Systems, Evanston, IL, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5079642872"],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":1.6468,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.82776914,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"39","issue":"3","first_page":"1964","last_page":"1981"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994000196456909,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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/kinematics","display_name":"Kinematics","score":0.7263240218162537},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6057812571525574},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5894352793693542},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5717175602912903},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5701600313186646},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.53682941198349},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5174779891967773},{"id":"https://openalex.org/keywords/contact-dynamics","display_name":"Contact dynamics","score":0.5019783973693848},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49771860241889954},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4884859323501587},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4862784147262573},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4746813476085663},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4292377829551697},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35189592838287354},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3502885699272156},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.283507764339447},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27775201201438904},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1586105227470398},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14684957265853882},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1441214382648468},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.12216633558273315}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7263240218162537},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6057812571525574},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5894352793693542},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5717175602912903},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5701600313186646},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.53682941198349},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5174779891967773},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.5019783973693848},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49771860241889954},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4884859323501587},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4862784147262573},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4746813476085663},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4292377829551697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35189592838287354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3502885699272156},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.283507764339447},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27775201201438904},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1586105227470398},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14684957265853882},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1441214382648468},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.12216633558273315},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3250160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3250160","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1839595","https://openalex.org/W177930832","https://openalex.org/W1522531528","https://openalex.org/W1544277262","https://openalex.org/W1550147906","https://openalex.org/W1768694113","https://openalex.org/W1964458699","https://openalex.org/W1972243722","https://openalex.org/W2007212612","https://openalex.org/W2011581502","https://openalex.org/W2017444601","https://openalex.org/W2018855542","https://openalex.org/W2025090648","https://openalex.org/W2026692965","https://openalex.org/W2033781490","https://openalex.org/W2045845898","https://openalex.org/W2045887718","https://openalex.org/W2081684462","https://openalex.org/W2101885191","https://openalex.org/W2104806486","https://openalex.org/W2113797465","https://openalex.org/W2127098779","https://openalex.org/W2134789929","https://openalex.org/W2137650971","https://openalex.org/W2141157416","https://openalex.org/W2151918200","https://openalex.org/W2158504890","https://openalex.org/W2160864841","https://openalex.org/W2167664500","https://openalex.org/W2171457282","https://openalex.org/W2289514059","https://openalex.org/W2736374714","https://openalex.org/W2767578104","https://openalex.org/W2801910602","https://openalex.org/W2843189636","https://openalex.org/W2847620238","https://openalex.org/W2888287492","https://openalex.org/W2897056484","https://openalex.org/W2908645415","https://openalex.org/W2938149423","https://openalex.org/W3005536767","https://openalex.org/W3094672568","https://openalex.org/W4399469378","https://openalex.org/W6600078256","https://openalex.org/W6680022651"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W1862849712","https://openalex.org/W2135334345"],"abstract_inverted_index":{"In":[0],"this":[1,44],"article,":[2,45],"we":[3,46],"define":[4],"\u201crobotic":[5],"contact":[6,37,67],"juggling\u201d":[7],"to":[8],"be":[9],"the":[10,14,48,56,76,82,87,96,101],"purposeful":[11],"control":[12],"of":[13,16,35,58,106],"motion":[15],"a":[17,26,64,124],"3-D":[18,88,116],"smooth":[19,61,71],"object":[20,62],"as":[21],"it":[22],"rolls":[23],"freely":[24],"on":[25,68],"motion-controlled":[27],"robot":[28],"manipulator,":[29],"or":[30],"\u201chand.\u201d":[31],"While":[32],"specific":[33],"examples":[34],"robotic":[36],"juggling":[38],"have":[39],"been":[40],"studied":[41],"before,":[42],"in":[43,63,115],"provide":[47],"first":[49],"general":[50],"formulation":[51,74],"and":[52,99,104,118],"solution":[53],"method":[54],"for":[55],"case":[57],"an":[59,69],"arbitrary":[60,70],"single-point":[65],"rolling":[66,84,89,92,97,108],"hand.":[72],"Our":[73],"splits":[75],"problem":[77],"into":[78],"four":[79],"subproblems:":[80],"deriving":[81,86],"second-order":[83],"kinematics;":[85],"dynamics;":[90],"planning":[91],"motions":[93],"that":[94],"satisfy":[95],"dynamics":[98],"achieve":[100],"desired":[102],"goal;":[103],"stabilization":[105],"planned":[107],"trajectories.":[109],"The":[110],"theoretical":[111],"results":[112],"are":[113],"demonstrated":[114],"simulations":[117],"2-D":[119],"experiments":[120],"using":[121],"feedback":[122],"from":[123],"high-speed":[125],"vision":[126],"system.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}