{"id":"https://openalex.org/W4391807498","doi":"https://doi.org/10.1109/tro.2024.3365993","title":"An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks","display_name":"An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4391807498","doi":"https://doi.org/10.1109/tro.2024.3365993"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3365993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3365993","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":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/207182","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058648314","display_name":"Boyang Ti","orcid":"https://orcid.org/0000-0002-0303-8317"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH","CN"],"is_corresponding":false,"raw_author_name":"Boyang Ti","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","Idiap Research Institute, Martigny, CH, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-0303-8317","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"Idiap Research Institute, Martigny, CH, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084397758","display_name":"Yongsheng Gao","orcid":"https://orcid.org/0000-0002-1555-8328"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongsheng Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1555-8328","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6086-9387","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Idiap Research Institute, Martigny, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-9036-6799","affiliations":[{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1652,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.76692152,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"40","issue":null,"first_page":"1966","last_page":"1982"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10653","display_name":"Robot Manipulation and Learning","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":0.9966999888420105,"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/affordance","display_name":"Affordance","score":0.8063197135925293},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5987207889556885},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5673428177833557},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5103198885917664},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.47385695576667786},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47268491983413696},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46743884682655334},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4312503933906555},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4230203628540039},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4157188832759857},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41353660821914673},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3758905827999115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3478912115097046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3264616131782532},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3262704014778137},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1837543547153473},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15637466311454773}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.8063197135925293},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5987207889556885},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5673428177833557},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5103198885917664},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.47385695576667786},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47268491983413696},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46743884682655334},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4312503933906555},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4230203628540039},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4157188832759857},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41353660821914673},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3758905827999115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3478912115097046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3264616131782532},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3262704014778137},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1837543547153473},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15637466311454773},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2024.3365993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3365993","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"},{"id":"pmh:oai:infoscience.epfl.ch:310438","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/207182","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:310438","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/207182","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5370040448","display_name":null,"funder_award_id":"92048301","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W195033972","https://openalex.org/W1964946446","https://openalex.org/W1970101292","https://openalex.org/W2032006356","https://openalex.org/W2049410986","https://openalex.org/W2051723849","https://openalex.org/W2077247990","https://openalex.org/W2081659722","https://openalex.org/W2105693192","https://openalex.org/W2126319939","https://openalex.org/W2129182327","https://openalex.org/W2131326336","https://openalex.org/W2136920556","https://openalex.org/W2143093968","https://openalex.org/W2144082062","https://openalex.org/W2145737002","https://openalex.org/W2158370675","https://openalex.org/W2159171715","https://openalex.org/W2163686172","https://openalex.org/W2210993424","https://openalex.org/W2312824571","https://openalex.org/W2324665307","https://openalex.org/W2395822350","https://openalex.org/W2549950425","https://openalex.org/W2736013428","https://openalex.org/W2737895369","https://openalex.org/W2763519401","https://openalex.org/W2793066675","https://openalex.org/W2807702428","https://openalex.org/W2924607344","https://openalex.org/W2963411833","https://openalex.org/W2970710335","https://openalex.org/W3003318685","https://openalex.org/W3081176596","https://openalex.org/W3128188665","https://openalex.org/W3135551929","https://openalex.org/W3166471592","https://openalex.org/W3176603481","https://openalex.org/W3186799597","https://openalex.org/W3199300111","https://openalex.org/W4200235480","https://openalex.org/W4205293427","https://openalex.org/W4206754613","https://openalex.org/W4283809684","https://openalex.org/W4287617987","https://openalex.org/W4292363360","https://openalex.org/W4300824451","https://openalex.org/W4308801317","https://openalex.org/W4312271328","https://openalex.org/W4313396696","https://openalex.org/W4383503844","https://openalex.org/W6600740208","https://openalex.org/W6634616096","https://openalex.org/W6844698218","https://openalex.org/W7005955626"],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W3049116993","https://openalex.org/W1541884709","https://openalex.org/W2589081601","https://openalex.org/W2226037301","https://openalex.org/W2026855223","https://openalex.org/W2044900919"],"abstract_inverted_index":{"Humans":[0],"use":[1,19,59],"tools":[2,21],"to":[3,18,87,124,143],"complete":[4],"impact-aware":[5,177],"tasks":[6,145],"such":[7],"as":[8],"hammering":[9],"a":[10,39,42,78,82,131,150,156,163],"nail":[11],"or":[12,33],"playing":[13],"tennis.":[14],"The":[15,45,138],"postures":[16],"adopted":[17],"these":[20,28],"can":[22],"significantly":[23],"influence":[24],"the":[25,31,36,53,58,71,109,119,160,170],"performance":[26],"of":[27,35,51,60,73,113,121,162,172],"tasks,":[29],"where":[30],"force":[32,74],"velocity":[34,76,136],"hand":[37],"holding":[38],"tool":[40,54,62,92,122],"plays":[41],"crucial":[43],"role.":[44],"underlying":[46],"motion":[47,126],"planning":[48,127],"challenge":[49],"consists":[50],"grabbing":[52],"in":[55,77,146,155,176],"preparation":[56],"for":[57],"this":[61],"with":[63,108,159],"an":[64,98],"optimal":[65,99],"body":[66],"posture.":[67],"Directional":[68],"manipulability":[69,90,175],"describes":[70],"dexterity":[72],"and":[75,91,148],"joint":[79],"configuration":[80],"along":[81],"specific":[83],"direction.":[84],"In":[85],"order":[86],"take":[88],"directional":[89,135,174],"affordances":[93,123],"into":[94],"account,":[95],"we":[96],"apply":[97],"control":[100],"method":[101,112],"combining":[102],"iterative":[103],"linear":[104],"quadratic":[105],"regulator":[106],"(iLQR)":[107],"alternating":[110],"direction":[111],"multipliers":[114],"(ADMM).":[115],"Our":[116,166],"approach":[117,140],"considers":[118],"notion":[120],"solve":[125],"problems,":[128],"by":[129],"introducing":[130],"cost":[132],"based":[133],"on":[134,149],"manipulability.":[137],"proposed":[139],"is":[141],"applied":[142],"impact":[144],"simulation":[147],"real":[151],"7-axis":[152],"robot,":[153],"specifically":[154],"nail-hammering":[157],"task":[158],"assistance":[161],"pilot":[164],"hole.":[165],"comparison":[167],"study":[168],"demonstrates":[169],"importance":[171],"maximizing":[173],"tasks.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
