{"id":"https://openalex.org/W4416323559","doi":"https://doi.org/10.1109/tro.2025.3634386","title":"On Transient Release Dynamics in Robot Throwing: A Sliding Pivot Model","display_name":"On Transient Release Dynamics in Robot Throwing: A Sliding Pivot Model","publication_year":2025,"publication_date":"2025-11-18","ids":{"openalex":"https://openalex.org/W4416323559","doi":"https://doi.org/10.1109/tro.2025.3634386"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2025.3634386","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2025.3634386","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://doi.org/10.1109/tro.2025.3634386","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yang Liu","orcid":"https://orcid.org/0000-0003-2484-610X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory, Swiss Federal Institute of Technology Lausanne, Lausanne, Switzerland","Learning Algorithms and Systems Laboratory (LASA), EPFL, Ecublens, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-2484-610X","affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory, Swiss Federal Institute of Technology Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), EPFL, Ecublens, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory, Swiss Federal Institute of Technology Lausanne, Lausanne, Switzerland","Learning Algorithms and Systems Laboratory (LASA), EPFL, Ecublens, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7076-8010","affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory, Swiss Federal Institute of Technology Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), EPFL, Ecublens, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2751311,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":null,"first_page":"132","last_page":"151"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.7319999933242798,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.7319999933242798,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.20180000364780426,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.010400000028312206,"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/control-theory","display_name":"Control theory (sociology)","score":0.6679999828338623},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5928000211715698},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5045999884605408},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.44369998574256897},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4431000053882599},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.4083000123500824},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.39640000462532043},{"id":"https://openalex.org/keywords/throwing","display_name":"Throwing","score":0.3698999881744385},{"id":"https://openalex.org/keywords/high-fidelity","display_name":"High fidelity","score":0.35260000824928284},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.34790000319480896}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6679999828338623},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5928000211715698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5871000289916992},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5045999884605408},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.44369998574256897},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4431000053882599},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4185999929904938},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.4083000123500824},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.39640000462532043},{"id":"https://openalex.org/C207451115","wikidata":"https://www.wikidata.org/wiki/Q12898216","display_name":"Throwing","level":2,"score":0.3698999881744385},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.35260000824928284},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.34790000319480896},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.34450000524520874},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.34200000762939453},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.3253999948501587},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3199000060558319},{"id":"https://openalex.org/C103088060","wikidata":"https://www.wikidata.org/wiki/Q1062839","display_name":"Error detection and correction","level":2,"score":0.31040000915527344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30570000410079956},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.30379998683929443},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.3034999966621399},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.2985999882221222},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.28040000796318054},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C122383733","wikidata":"https://www.wikidata.org/wiki/Q865920","display_name":"Approximation error","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C173064807","wikidata":"https://www.wikidata.org/wiki/Q7233190","display_name":"Position error","level":3,"score":0.2678000032901764},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26339998841285706},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.26330000162124634},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2619999945163727},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2556999921798706}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3634386","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2025.3634386","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tro.2025.3634386","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2025.3634386","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1525853401","https://openalex.org/W1974309896","https://openalex.org/W2001524797","https://openalex.org/W2014450203","https://openalex.org/W2020251869","https://openalex.org/W2028817414","https://openalex.org/W2029342956","https://openalex.org/W2043956158","https://openalex.org/W2048484394","https://openalex.org/W2052869297","https://openalex.org/W2087154810","https://openalex.org/W2102911553","https://openalex.org/W2111474706","https://openalex.org/W2127642969","https://openalex.org/W2130576760","https://openalex.org/W2149175962","https://openalex.org/W2150113360","https://openalex.org/W2156481835","https://openalex.org/W2157720571","https://openalex.org/W2166270403","https://openalex.org/W2166271005","https://openalex.org/W2442260243","https://openalex.org/W2485899942","https://openalex.org/W2525584805","https://openalex.org/W2609356747","https://openalex.org/W2765733960","https://openalex.org/W2773771478","https://openalex.org/W2775821103","https://openalex.org/W2791516632","https://openalex.org/W2794449147","https://openalex.org/W2843189636","https://openalex.org/W2963092423","https://openalex.org/W2964153186","https://openalex.org/W3000452236","https://openalex.org/W3003257820","https://openalex.org/W3037368970","https://openalex.org/W3043157422","https://openalex.org/W3201707474","https://openalex.org/W4230616527","https://openalex.org/W4246394278","https://openalex.org/W4281291485","https://openalex.org/W4281995269","https://openalex.org/W4285102576","https://openalex.org/W4312279721","https://openalex.org/W4312470006","https://openalex.org/W4312858517","https://openalex.org/W4313026526","https://openalex.org/W4380992688","https://openalex.org/W4383108277","https://openalex.org/W4385430560","https://openalex.org/W4390905073","https://openalex.org/W4391168181","https://openalex.org/W4393182458","https://openalex.org/W4394698817","https://openalex.org/W4398775577","https://openalex.org/W4399410417","https://openalex.org/W4399766688","https://openalex.org/W4401041654","https://openalex.org/W4402300308","https://openalex.org/W4402569437","https://openalex.org/W4405786053"],"related_works":[],"abstract_inverted_index":{"Humans":[0],"regularly":[1],"throw":[2,16],"projectiles":[3],"with":[4,209],"high":[5,157],"speed":[6],"and":[7,13,31,40,56,72,109,121,234,251],"accuracy;":[8],"some":[9],"animals,":[10],"including":[11],"chimpanzees":[12],"elephants,":[14],"also":[15],"objects":[17],"occasionally.":[18],"In":[19,84],"comparison,":[20],"robots":[21],"are":[22],"currently":[23],"lagging":[24],"behind,":[25],"despite":[26],"having":[27],"lower":[28],"communication":[29],"latency":[30],"more":[32],"accurate":[33],"motor":[34],"control.":[35],"To":[36,137],"understand":[37],"this":[38,85],"paradox":[39],"ultimately":[41],"achieve":[42],"ubiquitous":[43],"throwing":[44,135,270],"robots,":[45],"one":[46],"of":[47,54,60,78,145,174],"the":[48,52,61,66,70,73,81,95,102,118,146,166,171,189,194],"major":[49],"obstacles":[50],"is":[51],"lack":[53],"high-fidelity":[55],"tractable":[57],"physical":[58,92],"models":[59],"transient":[62],"release":[63,96,119,178],"dynamics,":[64,179],"where":[65],"momentum":[67],"exchange":[68],"between":[69],"hand":[71],"object":[74],"occurs":[75],"within":[76],"tens":[77],"milliseconds":[79],"via":[80,151],"frictional":[82],"interface.":[83],"work,":[86],"we":[87,140,180],"try":[88],"to":[89,116,130,207,221],"establish":[90],"a":[91,142,182,261],"model":[93,149,186,203],"for":[94,248,255,266],"dynamics.":[97],"We":[98],"first":[99],"demonstrate":[100],"that":[101,187],"conventional":[103,222],"model,":[104],"which":[105,155],"combines":[106],"rigid-body":[107],"dynamics":[108,120,191],"patch":[110],"friction":[111],"(limit":[112],"surface,":[113],"LS),":[114],"struggles":[115],"capture":[117],"exhibits":[122],"pathological":[123],"behaviors,":[124],"such":[125],"as":[126],"Zeno-like":[127],"oscillations,":[128],"leading":[129],"poor":[131],"accuracy":[132,205],"in":[133,177],"predicting":[134],"outcomes.":[136],"mitigate":[138],"this,":[139],"formulate":[141],"viscous-smoothed":[143],"variant":[144],"limit":[147],"surface":[148],"solved":[150],"implicit":[152],"integration":[153],"(ILS),":[154],"achieves":[156,204],"predictive":[158],"fidelity":[159],"but":[160],"incurs":[161],"significant":[162],"computational":[163],"cost.":[164],"On":[165],"other":[167],"hand,":[168],"motivated":[169],"by":[170,192,232,239],"dominant":[172],"effect":[173],"in-hand":[175],"pivoting":[176],"propose":[181],"Sliding":[183],"Pivot":[184],"(SP)":[185],"simplifies":[188],"contact":[190],"capturing":[193],"sticking-pivoting-sliding":[195],"behavior":[196],"emerging":[197],"under":[198],"vanishing":[199],"normal":[200],"force.":[201],"This":[202],"comparable":[206],"ILS,":[208],"only":[210],"10%":[211],"higher":[212],"error":[213,231,238,246],"while":[214],"offering":[215],"over":[216],"20\u00d7":[217],"faster":[218],"computation.":[219],"Compared":[220],"LS":[223],"models,":[224],"our":[225],"method":[226],"reduces":[227],"horizontal":[228],"velocity":[229,236],"prediction":[230,237],"40%":[233],"angular":[235],"63%,":[240],"achieving":[241],"2.4":[242],"cm":[243],"mean":[244],"absolute":[245],"(MAE)":[247],"landing":[249,256],"position":[250],"15.4":[252],"degrees":[253],"MAE":[254],"orientation.":[257],"These":[258],"results":[259],"provide":[260],"robust,":[262],"physically":[263],"grounded":[264],"foundation":[265],"future":[267],"scalable":[268],"robot":[269],"systems.":[271]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-11-18T00:00:00"}