{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T07:07:54Z","timestamp":1760080074350,"version":"3.41.0"},"publisher-location":"Cham","reference-count":52,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783319609157"},{"type":"electronic","value":"9783319609164"}],"license":[{"start":{"date-parts":[[2017,7,25]],"date-time":"2017-07-25T00:00:00Z","timestamp":1500940800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2018]]},"DOI":"10.1007\/978-3-319-60916-4_21","type":"book-chapter","created":{"date-parts":[[2017,7,24]],"date-time":"2017-07-24T07:53:33Z","timestamp":1500882813000},"page":"363-385","source":"Crossref","is-referenced-by-count":9,"title":["A Computational Framework for Environment-Aware Robotic Manipulation Planning"],"prefix":"10.1007","author":[{"given":"Marco","family":"Gabiccini","sequence":"first","affiliation":[]},{"given":"Alessio","family":"Artoni","sequence":"additional","affiliation":[]},{"given":"Gabriele","family":"Pannocchia","sequence":"additional","affiliation":[]},{"given":"Joris","family":"Gillis","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2017,7,25]]},"reference":[{"key":"21_CR1","doi-asserted-by":"crossref","first-page":"157","DOI":"10.1016\/0004-3702(75)90007-7","volume":"6","author":"AP Ambler","year":"1975","unstructured":"Ambler, A.P., Popplestone, R.J.: Inferring the positions of bodies from specified spatial relationships. Artif. Intell. 6, 157\u2013174 (1975)","journal-title":"Artif. Intell."},{"unstructured":"Andersson, J.: A General-Purpose Software Framework for Dynamic Optimization. Ph.D. thesis, Arenberg Doctoral School, KU Leuven, Department of Electrical Engineering (ESAT\/SCD) and Optimization in Engineering Center, Kasteelpark Arenberg 10, 3001-Heverlee, Belgium (2013)","key":"21_CR2"},{"unstructured":"Betts, J.T.: Practical Methods for Optimal Control Using Nonlinear Programming. SIAM (2001)","key":"21_CR3"},{"issue":"3","key":"21_CR4","doi-asserted-by":"crossref","first-page":"575","DOI":"10.1016\/j.compchemeng.2008.08.006","volume":"33","author":"LT Biegler","year":"2009","unstructured":"Biegler, L.T., Zavala, V.M.: Large-scale nonlinear programming using IPOPT: An integrating framework for enterprise-wide dynamic optimization. Comput. Chem. Eng. 33(3), 575\u2013582 (2009)","journal-title":"Comput. Chem. Eng."},{"doi-asserted-by":"crossref","unstructured":"Bonilla, M., Farnioli, E., Piazza, C., Catalano, M., Grioli, G., Garabini, M., Gabiccini, M., Bicchi, A.: Grasping with soft hands. In: IEEE-RAS International\u00a0Conference\u00a0on Humanoid Robots (Humanoids) (2014)","key":"21_CR5","DOI":"10.1109\/HUMANOIDS.2014.7041421"},{"unstructured":"Boothroyd, G., Poli, C., Murch, L.E.: Handbook of feeding and orienting techniques for small parts. University of Massachusetts at Amherst, Dept. of Mechanical Engineering, Automation Project (1981)","key":"21_CR6"},{"issue":"1","key":"21_CR7","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.rcim.2010.05.008","volume":"27","author":"I Boyle","year":"2011","unstructured":"Boyle, I., Rong, Y., Brown, D.C.: A review and analysis of current computer-aided fixture design approaches. Robot. Comput. Integr. Manuf. 27(1), 1\u201312 (2011)","journal-title":"Robot. Comput. Integr. Manuf."},{"doi-asserted-by":"crossref","unstructured":"Cohen, B., Phillips, M., Likhachev, M.: Planning single-arm manipulations with n-arm robots. In: Robotics Science and Systems (RSS) (2014)","key":"21_CR8","DOI":"10.15607\/RSS.2014.X.033"},{"doi-asserted-by":"crossref","unstructured":"Dafle, N.C., Rodriguez, A., Paolini, R., Tang, B., Srinivasa, S.S., Erdmann, M., Mason, M.T., Lundberg, I., Staab, H., Fuhlbrigge, T.: Regrasping objects using extrinsic dexterity. In: IEEE International Conference\u00a0on Robotics and Automation (ICRA), pp. 2560\u20132560 (2014)","key":"21_CR9","DOI":"10.1109\/ICRA.2014.6907218"},{"issue":"4","key":"21_CR10","doi-asserted-by":"crossref","first-page":"343","DOI":"10.1023\/A:1008102809568","volume":"28","author":"GE Deacon","year":"2000","unstructured":"Deacon, G.E.: An attempt to raise the level of software abstraction in assembly robotics through an apposite choice of underlying mechatronics. J. Intell. Rob. Syst. 28(4), 343\u2013399 (2000)","journal-title":"J. Intell. Rob. Syst."},{"issue":"5","key":"21_CR11","doi-asserted-by":"crossref","first-page":"433","DOI":"10.1177\/027836490707809107","volume":"26","author":"J Schutter De","year":"2007","unstructured":"De Schutter, J., De Laet, T., Rutgeerts, J., Decr\u00e9, W., Smits, Ruben, Aertbeli\u00ebn, Erwin, Claes, Kasper, Bruyninckx, Herman: Constraint-based task specification and estimation for sensor-based robot systems in the presence of geometric uncertainty. Int. J. Robot. Res. 26(5), 433\u2013455 (2007)","journal-title":"Int. J. Robot. Res."},{"unstructured":"Diankov, R.: Automated Construction of Robotic Manipulation Programs. Ph.D. thesis, Carnegie Mellon University, Robotics Institute (2010)","key":"21_CR12"},{"key":"21_CR13","volume-title":"Differential Geometry of Curves and Surfaces","author":"MP Do Carmo","year":"1976","unstructured":"Do Carmo, M.P.: Differential Geometry of Curves and Surfaces. Prentice Hall, Englewood Cliffs (1976)"},{"issue":"3","key":"21_CR14","doi-asserted-by":"crossref","first-page":"217","DOI":"10.1007\/s10514-012-9306-z","volume":"33","author":"MR Dogar","year":"2012","unstructured":"Dogar, M.R., Srinivasa, S.S.: A planning framework for non-prehensile manipulation under clutter and uncertainty. Autonom. Robots 33(3), 217\u2013236 (2012)","journal-title":"Autonom. Robots"},{"issue":"2","key":"21_CR15","doi-asserted-by":"crossref","first-page":"118","DOI":"10.1145\/992200.992202","volume":"30","author":"IS Duff","year":"2004","unstructured":"Duff, I.S.: Ma57 - a code for the solution of sparse symmetric definite and indefinite systems. ACM Trans. Math. Softw. (TOMS) 30(2), 118\u2013144 (2004)","journal-title":"ACM Trans. Math. Softw. (TOMS)"},{"doi-asserted-by":"crossref","unstructured":"Eppner, C., Brock, O.: Planning grasp strategies that exploit environmental constraints. In: IEEE International Conference\u00a0on Robotics and Automation (ICRA) (2015)","key":"21_CR16","DOI":"10.1109\/ICRA.2015.7139886"},{"unstructured":"Gabiccini, M., Artoni, A., Pannocchia, G., Gillis, J.: ISRR 2015 submission accompanying video (2015). http:\/\/youtu.be\/ozDwPnS00fI","key":"21_CR17"},{"key":"21_CR18","doi-asserted-by":"crossref","first-page":"629","DOI":"10.1137\/S0036144504444711","volume":"47","author":"AH Gebremedhin","year":"2005","unstructured":"Gebremedhin, A.H., Manne, F., Pothen, A.: What color is your Jacobian? Graph coloring for computing derivatives. SIAM Rev. 47, 629\u2013705 (2005)","journal-title":"SIAM Rev."},{"unstructured":"Gillis, J., Diehl, M.: Hierarchical seeding for efficient sparsity pattern recovery in automatic differentiation. In: CSC14: The Sixth SIAM Workshop on Combinatorial Scientific Computing (2014)","key":"21_CR19"},{"doi-asserted-by":"crossref","unstructured":"Glassman, E., Tedrake, R.: A quadratic regulator-based heuristic for rapidly exploring state space. In: IEEE International Conference\u00a0on Robotics and Automation (ICRA), pp. 5021\u20135028, Anchorage, Alaska, USA, 5 (2010)","key":"21_CR20","DOI":"10.1109\/ROBOT.2010.5509718"},{"key":"21_CR21","doi-asserted-by":"crossref","first-page":"447","DOI":"10.1007\/s11044-005-2519-6","volume":"13","author":"C Glocker","year":"2005","unstructured":"Glocker, C., Studer, C.: Formulation and preparation for numerical evaluation of linear complementarity systems in dynamics. Multibody Sys. Dyn. 13, 447\u2013463 (2005)","journal-title":"Multibody Sys. Dyn."},{"key":"21_CR22","doi-asserted-by":"crossref","DOI":"10.1137\/1.9780898717761","volume-title":"Evaluating Derivatives","author":"A Griewank","year":"2008","unstructured":"Griewank, A., Walther, A.: Evaluating Derivatives, 2nd edn. SIAM, Philadelphia (2008)","edition":"2"},{"key":"21_CR23","series-title":"Frontiers in Applied Mathematics","volume-title":"Evaluating Derivatives: Principles and Techniques of Algorithmic Differentiation","author":"A Griewank","year":"2000","unstructured":"Griewank, A.: Evaluating Derivatives: Principles and Techniques of Algorithmic Differentiation. Frontiers in Applied Mathematics, vol. 19. SIAM, Philadelphia (2000)"},{"unstructured":"HSL. A collection of fortran codes for large scale scientific computation (2014)","key":"21_CR24"},{"unstructured":"Ijspeert, A., Nakanishi, J., Schaal, S.: Learning attractor landscapes for learning motor primitives (2003)","key":"21_CR25"},{"doi-asserted-by":"crossref","unstructured":"Jonschkowski, R, Brock, O: State representation learning in robotics: Using prior knowledge about physical interaction. In: Proceedings of Robotics Science and Systems, Berkeley, USA (2014)","key":"21_CR26","DOI":"10.15607\/RSS.2014.X.019"},{"issue":"7","key":"21_CR27","doi-asserted-by":"crossref","first-page":"846","DOI":"10.1177\/0278364911406761","volume":"30","author":"S Karaman","year":"2011","unstructured":"Karaman, S., Frazzoli, E.: Sampling-based algorithms for optimal motion planning. Int. J. Robot. Res. 30(7), 846\u2013894 (2011)","journal-title":"Int. J. Robot. Res."},{"doi-asserted-by":"crossref","unstructured":"Kazemi, M., Valois, J.-S., Andrew Bagnell, J., Pollard, N.: Human-inspired force compliant grasping primitives. Autonom Robots, pp. 1\u201317 (2014)","key":"21_CR28","DOI":"10.1007\/s10514-014-9389-9"},{"issue":"11","key":"21_CR29","doi-asserted-by":"crossref","first-page":"1238","DOI":"10.1177\/0278364913495721","volume":"32","author":"J Kober","year":"2013","unstructured":"Kober, J., Bagnell, J.A., Peters, J.: Reinforcement learning in robotics: a survey. Int. J. Robot. Res. (IJRR) 32(11), 1238\u20131274 (2013)","journal-title":"Int. J. Robot. Res. (IJRR)"},{"doi-asserted-by":"crossref","unstructured":"Koga, Y., Latombe, J.-C.: On multi-arm manipulation planning. In: IEEE International Conference\u00a0on Robotics and Automation (ICRA) (1994)","key":"21_CR30","DOI":"10.1109\/ROBOT.1994.351231"},{"doi-asserted-by":"crossref","unstructured":"Kohl, N., Stone, P.: Policy gradient reinforcement learning for fast quadrupedal locomotion. In: IEEE International Conference\u00a0on Intelligent Robots and Systems (IROS) (2004)","key":"21_CR31","DOI":"10.1109\/ROBOT.2004.1307456"},{"unstructured":"Levine, S., Abbeel, P.: Learning neural network policies with guided policy search under unknown dynamics. In: Neural Information Processing Systems (NIPS) (2014)","key":"21_CR32"},{"doi-asserted-by":"crossref","unstructured":"Levine, S., Wagener, N., Abbeel, P.: Learning contact-rich manipulation skills with guided policy search. In: IEEE International Conference\u00a0on Robotics and Automation (ICRA) (2015)","key":"21_CR33","DOI":"10.1109\/ICRA.2015.7138994"},{"issue":"1","key":"21_CR34","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1177\/027836498400300101","volume":"3","author":"T Lozano-P\u00e9rez","year":"1984","unstructured":"Lozano-P\u00e9rez, T., Mason, M.T., Taylor, R.H.: Automatic synthesis of fine-motion strategies for robots. Int. J. Robot. Res. (IJRR) 3(1), 3\u201324 (1984)","journal-title":"Int. J. Robot. Res. (IJRR)"},{"doi-asserted-by":"crossref","unstructured":"Mason, M.T.: The mechanics of manipulation. In: IEEE International Conference\u00a0on Robotics and Automation (ICRA), vol.\u00a02, pp. 544\u2013548 (1985)","key":"21_CR35","DOI":"10.1109\/ROBOT.1985.1087242"},{"issue":"4","key":"21_CR36","doi-asserted-by":"crossref","first-page":"110","DOI":"10.1109\/MRA.2004.1371616","volume":"11","author":"AT Miller","year":"2004","unstructured":"Miller, A.T., Allen, P.K.: Graspit! a versatile simulator for robotic grasping. IEEE Robot. Autom. Mag. 11(4), 110\u2013122 (2004)","journal-title":"IEEE Robot. Autom. Mag."},{"unstructured":"Mordatch, I., Popovi\u0107, Z., Todorov, E.: Contact-invariant optimization for hand manipulation. In: Eurographics\/ACM Symposium on Computer Animation (2012)","key":"21_CR37"},{"doi-asserted-by":"crossref","unstructured":"Mordatch, I., Todorov, E., Popovi\u0107, Z.: Discovery of complex behaviors through contact-invariant optimization. In: ACM Transactions on Graphics (2012)","key":"21_CR38","DOI":"10.1145\/2185520.2185539"},{"doi-asserted-by":"crossref","unstructured":"Mordatch, I., Todorov, E.: Combining the benefits of function approximation and trajectory optimization. In: Proceedings of Robotics Science and Systems, Berkeley, USA (2014)","key":"21_CR39","DOI":"10.15607\/RSS.2014.X.052"},{"key":"21_CR40","volume-title":"Numerical Optimization","author":"J Nocedal","year":"2006","unstructured":"Nocedal, J., Wright, S.J.: Numerical Optimization. Springer, New York (2006)"},{"issue":"3","key":"21_CR41","doi-asserted-by":"crossref","first-page":"10","DOI":"10.1109\/MCSE.2007.58","volume":"9","author":"TE Oliphant","year":"2007","unstructured":"Oliphant, T.E.: Python for scientific computing. Comput. Sci. Eng. 9(3), 10\u201320 (2007)","journal-title":"Comput. Sci. Eng."},{"doi-asserted-by":"crossref","unstructured":"Perez, A., Platt, R., Konidaris, G., Kaelbling, L., Lozano-Perez, T.: LQR-RRT*: optimal sampling-based motion planning with automatically derived extension heuristics. In: 2012 IEEE International Conference on Robotics and Automation (ICRA) (2012)","key":"21_CR42","DOI":"10.1109\/ICRA.2012.6225177"},{"issue":"4","key":"21_CR43","doi-asserted-by":"crossref","first-page":"682","DOI":"10.1016\/j.neunet.2008.02.003","volume":"21","author":"J Peters","year":"2008","unstructured":"Peters, J., Schaal, S.: Reinforcement learning of motor skills with policy gradients. Neural Netw. 21(4), 682\u2013697 (2008)","journal-title":"Neural Netw."},{"issue":"1","key":"21_CR44","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1177\/0278364913506757","volume":"33","author":"M Posa","year":"2014","unstructured":"Posa, M., Cantu, C., Tedrake, R.: A direct method for trajectory optimization of rigid bodies through contact. Int. J. Robot. Res. (IJRR) 33(1), 69\u201381 (2014)","journal-title":"Int. J. Robot. Res. (IJRR)"},{"key":"21_CR45","volume-title":"Robot Control, The Task Function Approach","author":"C Samson","year":"1991","unstructured":"Samson, C., Le Borgne, M., Espiau, B.: Robot Control, The Task Function Approach. Clarendon Press, Oxford (1991)"},{"issue":"5","key":"21_CR46","doi-asserted-by":"crossref","first-page":"783","DOI":"10.1109\/TMECH.2009.2035112","volume":"15","author":"G Schultz","year":"2010","unstructured":"Schultz, G., Mombaur, K.: Modeling and optimal control of human-like running. IEEE\/ASME Trans. Mechatron. 15(5), 783\u2013792 (2010)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"21_CR47","doi-asserted-by":"crossref","first-page":"2673","DOI":"10.1002\/(SICI)1097-0207(19960815)39:15<2673::AID-NME972>3.0.CO;2-I","volume":"39","author":"DE Stewart","year":"1996","unstructured":"Stewart, D.E., Trinkle, J.C.: An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction. Int. J. Numer. Methods Eng. 39, 2673\u20132691 (1996)","journal-title":"Int. J. Numer. Methods Eng."},{"doi-asserted-by":"crossref","unstructured":"Stewart, D, Trinkle, J.C.: An implicit time-stepping scheme for rigid body dynamics with coulomb friction. In: IEEE International Conference\u00a0on Robotics and Automation (ICRA), vol.\u00a01, pp. 162\u2013169. IEEE (2000)","key":"21_CR48","DOI":"10.1109\/ROBOT.2000.844054"},{"doi-asserted-by":"crossref","unstructured":"Tedrake, R., Zhang, T. Seung, H.: Stochastic policy gradient reinforcement learning on a simple 3d biped. In: IEEE International Conference\u00a0on Intelligent Robots and Systems (IROS) (2004)","key":"21_CR49","DOI":"10.1109\/IROS.2004.1389841"},{"key":"21_CR50","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1007\/s10107-004-0559-y","volume":"106","author":"A W\u00e4chter","year":"2006","unstructured":"W\u00e4chter, A., Biegler, L.T.: On the implementation of a primal-dual interior point filter line search algorithm for large-scale nonlinear programming. Math. Program. 106, 25\u201357 (2006)","journal-title":"Math. Program."},{"key":"21_CR51","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-540-32609-0","volume-title":"Computational Contact Mechanics","author":"P Wriggers","year":"2006","unstructured":"Wriggers, P.: Computational Contact Mechanics. Springer, Berlin (2006)"},{"doi-asserted-by":"crossref","unstructured":"Xi, W., Remy, C.D.: Optimal gaits and motions for legged robots. In: IEEE International Conference\u00a0on Intelligent Robots and Systems (IROS), pp. 3259\u20133265 (2014)","key":"21_CR52","DOI":"10.1109\/IROS.2014.6943015"}],"container-title":["Springer Proceedings in Advanced Robotics","Robotics Research"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-60916-4_21","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,24]],"date-time":"2025-06-24T17:32:24Z","timestamp":1750786344000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-319-60916-4_21"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,7,25]]},"ISBN":["9783319609157","9783319609164"],"references-count":52,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-60916-4_21","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"type":"print","value":"2511-1256"},{"type":"electronic","value":"2511-1264"}],"subject":[],"published":{"date-parts":[[2017,7,25]]}}}