{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,25]],"date-time":"2026-02-25T07:11:28Z","timestamp":1772003488891,"version":"3.50.1"},"reference-count":57,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"National Key Research and Development Program of China","award":["2022YFB4700701"],"award-info":[{"award-number":["2022YFB4700701"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["92048301"],"award-info":[{"award-number":["92048301"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"China Scholarship Council, China","award":["202006120159"],"award-info":[{"award-number":["202006120159"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2024]]},"DOI":"10.1109\/tro.2024.3365993","type":"journal-article","created":{"date-parts":[[2024,2,14]],"date-time":"2024-02-14T18:48:15Z","timestamp":1707936495000},"page":"1966-1982","source":"Crossref","is-referenced-by-count":4,"title":["An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks"],"prefix":"10.1109","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0303-8317","authenticated-orcid":false,"given":"Boyang","family":"Ti","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1555-8328","authenticated-orcid":false,"given":"Yongsheng","family":"Gao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6086-9387","authenticated-orcid":false,"given":"Jie","family":"Zhao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9036-6799","authenticated-orcid":false,"given":"Sylvain","family":"Calinon","sequence":"additional","affiliation":[{"name":"Idiap Research Institute, Martigny, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.04-11-02738.1984"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1037\/0033-295X.102.1.28"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1997.77.1.452"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00975.2010"},{"key":"ref5","first-page":"735","article-title":"Analysis and control of robot manipulators with redundancy","volume-title":"Proc. 1st Int. Symp. Robot. Res.","author":"Yoshikawa","year":"1984"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.9746\/sicetr1965.21.970"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.027"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700502"},{"issue":"2","key":"ref10","first-page":"67","article-title":"The theory of affordances","volume":"1","author":"Gibson","year":"1977","journal-title":"Hilldale, USA"},{"key":"ref11","volume-title":"The Psychology of Everyday Things","author":"Norman","year":"1988"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1093\/brain\/34.2-3.102"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1017\/S0140525X11001452"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919872545"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1080\/00207176608921369"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.5220\/0001143902220229"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1137\/s0036144504446096"},{"key":"ref18","article-title":"A software package for sequential quadratic programming","author":"Kraft","year":"1988","journal-title":"Forschungsbericht- Deutsche Forschungs- und Versuchsanstalt fr Luft- Und Raumfahrt Kln"},{"key":"ref19","article-title":"An interior point algorithm for large-scale nonlinear optimization with applications in process engineering","author":"Wachter","year":"2002"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1561\/2200000016"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2017.7963708"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3194571"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/70.563651"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094870"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1115\/1.4056235"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000680"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651160"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282473"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2760907"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICECCME55909.2022.9988499"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363586"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.049"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/CYBER.2014.6917531"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943083"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967889"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907001"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2017.8317745"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2019.2904385"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacsc.2018.01.001"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijepes.2021.106799"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ICASSP.2014.6854644"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-016-1034-2"},{"key":"ref43","article-title":"A survey of ADMM variants for distributed optimization: Problems, algorithms and features","author":"Yang","year":"2022"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811957"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2024.3435423\/mm1"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981579"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/MRS50823.2021.9620665"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3286070"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103865"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920946815"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206150"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-022-10050-z"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3090180"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3097067"},{"key":"ref55","volume-title":"Fundamentals of Physics","author":"Halliday","year":"2013"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636295"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1515\/9781400830244"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10365208\/10436354.pdf?arnumber=10436354","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,27]],"date-time":"2024-11-27T00:21:38Z","timestamp":1732666898000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10436354\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024]]},"references-count":57,"URL":"https:\/\/doi.org\/10.1109\/tro.2024.3365993","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024]]}}}