{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,11]],"date-time":"2025-09-11T16:39:39Z","timestamp":1757608779416,"version":"3.44.0"},"reference-count":28,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"NSF","doi-asserted-by":"publisher","award":["CNS1629757"],"award-info":[{"award-number":["CNS1629757"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,5,19]]},"DOI":"10.1109\/icra55743.2025.11127229","type":"proceedings-article","created":{"date-parts":[[2025,9,2]],"date-time":"2025-09-02T17:28:56Z","timestamp":1756834136000},"page":"14728-14734","source":"Crossref","is-referenced-by-count":0,"title":["Wallbounce: Push Wall to Navigate with Contact-Implicit MPC"],"prefix":"10.1109","author":[{"given":"Xiaohan","family":"Liu","sequence":"first","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cunxi","family":"Dai","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"John Z.","family":"Zhang","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Arun","family":"Bishop","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zachary","family":"Manchester","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ralph","family":"Hollis","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3275384"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594448"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1115\/1.3153010"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids43949.2019.9034999"},{"key":"ref5","article-title":"Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation","volume-title":"Conference on Robot Learning (CoRL)","author":"Fu","year":"2024"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7758092"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3186515"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3068908"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3302239"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2819658"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913509126"},{"key":"ref12","doi-asserted-by":"crossref","first-page":"3092","DOI":"10.1109\/ICRA.2018.8460500","article-title":"Realization of a real-time optimal control strategy to stabilize a falling humanoid robot with hand contact","volume-title":"2018 IEEE International Conference on Robotics and Automation (ICRA).","author":"Wang","year":"2018"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids57100.2023.10375185"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812194"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919849235"},{"key":"ref16","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1177\/0278364913506757","article-title":"A direct method for trajectory optimization of rigid bodies through contact","volume":"33","author":"Posa","year":"2014","journal-title":"The International Journal of Robotics Research"},{"key":"ref17","doi-asserted-by":"crossref","first-page":"231","DOI":"10.1023\/A:1008292328909","article-title":"Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems","volume":"14","author":"Anitescu","year":"1997","journal-title":"Nonlinear Dynamics"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487664"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10342296"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3313937"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3351554"},{"key":"ref22","first-page":"137","article-title":"Contact-invariant optimization for hand manipulation,","volume-title":"Proceedings of the ACM SIGGRAPH\/Eurographics Symposium on Computer Animation","author":"Mordatch","year":"2012"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1145\/2185520.2185539"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800124"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2665685"},{"key":"ref26","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1007\/s10514-013-9341-4","article-title":"Centroidal dynamics of a humanoid robot","volume":"35","author":"Orin","year":"2013","journal-title":"Autonomous Robots"},{"volume-title":"OCS2: An open source library for optimal control of switched systems","author":"Farshidian","key":"ref27"},{"volume-title":"Eigen v3","year":"2010","author":"Guennebaud","key":"ref28"}],"event":{"name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2025,5,19]]},"location":"Atlanta, GA, USA","end":{"date-parts":[[2025,5,23]]}},"container-title":["2025 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11127273\/11127223\/11127229.pdf?arnumber=11127229","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T06:37:55Z","timestamp":1756881475000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11127229\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,19]]},"references-count":28,"URL":"https:\/\/doi.org\/10.1109\/icra55743.2025.11127229","relation":{},"subject":[],"published":{"date-parts":[[2025,5,19]]}}}