{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T09:45:00Z","timestamp":1766137500648,"version":"3.28.0"},"reference-count":55,"publisher":"IEEE","license":[{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020,5]]},"DOI":"10.1109\/icra40945.2020.9196824","type":"proceedings-article","created":{"date-parts":[[2020,9,15]],"date-time":"2020-09-15T17:25:46Z","timestamp":1600190746000},"page":"8884-8891","source":"Crossref","is-referenced-by-count":10,"title":["Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations"],"prefix":"10.1109","author":[{"given":"Weiqiao","family":"Han","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Russ","family":"Tedrake","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2000.912125"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2007.05.005"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2018.8619433"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909359210"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386025"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907001"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2005.04.017"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1007\/11529798_12"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2006.886486"},{"journal-title":"Optimal Control Linear Quadratic Methods","year":"2007","author":"anderson","key":"ref34"},{"article-title":"A novel augmented lagrangian approach for inequalities and convergent any-time non-central updates","year":"2014","author":"toussaint","key":"ref28"},{"key":"ref27","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1145\/2185520.2185539","article-title":"Discovery of complex behaviors through contact-invariant optimization","volume":"31","author":"mordatch","year":"2012","journal-title":"ACM Transactions on Graphics (TOG)"},{"key":"ref29","article-title":"Mixed-integer convex optimization for planning aggressive motions of legged robots over rough terrain","author":"valenzuela","year":"2016","journal-title":"Ph D Dissertation"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/56.769"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-104848"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989467"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461175"},{"key":"ref24","article-title":"Sample-based motion planning in high-dimensional and differentially-constrained systems","author":"shkolnik","year":"2010","journal-title":"MASSACHUSETTS INST OF TECH CAMBRIDGE COMPUTER SCIENCE AND ARTIFICIAL&#x2026; Tech Rep"},{"key":"ref23","first-page":"262","article-title":"Anytime dynamic a*: An anytime, replanning algorithm","author":"likhachev","year":"2005","journal-title":"ICAPS"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041375"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913506757"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-004-0559-y"},{"key":"ref51","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-54536-8","volume":"101","author":"kajita","year":"2014","journal-title":"Introduction to Humanoid Robotics"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1137\/S0036144504446096"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2005.74"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910369189"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241826"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487156"},{"article-title":"Tossing-bot: Learning to throw arbitrary objects with residual physics","year":"2019","author":"zeng","key":"ref11"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2000.876688"},{"article-title":"Learning dexterous in-hand manipulation","year":"2018","author":"andrychowicz","key":"ref12"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9479-3"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917712421"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793634"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2693391"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2262775"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225273"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CoASE.2012.6386423"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.058"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241860"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907062"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487155"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917710318"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7138994"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844054"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989324"},{"article-title":"Optimal control for nonlinear hybrid systems via convex relaxations","year":"2017","author":"zhao","key":"ref46"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8246970"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8239534"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793881"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2002.1184739"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-45873-5_11"},{"key":"ref44","article-title":"Model predictive control of hybrid systems: Stability and robustness","author":"lazar","year":"2006","journal-title":"Ph D Dissertation"},{"key":"ref43","article-title":"Dynamic output feedback controller synthesis for piecewise-affine systems","author":"rodrigues","year":"2002","journal-title":"Ph D Dissertation"}],"event":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2020,5,31]]},"location":"Paris, France","end":{"date-parts":[[2020,8,31]]}},"container-title":["2020 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9187508\/9196508\/09196824.pdf?arnumber=9196824","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,7]],"date-time":"2023-10-07T06:54:14Z","timestamp":1696661654000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9196824\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5]]},"references-count":55,"URL":"https:\/\/doi.org\/10.1109\/icra40945.2020.9196824","relation":{},"subject":[],"published":{"date-parts":[[2020,5]]}}}