The following publications are possibly variants of this publication:
- Spatio-temporal optimization of multi-phase movements: Dealing with contacts and switching dynamicsJun Nakanishi, Andreea Radulescu, Sethu Vijayakumar. iros 2013: 5100-5107 [doi]
- Optimal Control of Variable Stiffness Policies: Dealing with Switching Dynamics and Model MismatchAndreea Radulescu, Jun Nakanishi, David J. Braun, Sethu Vijayakumar. In Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre, editors, Geometric and Numerical Foundations of Movements. Volume 117 of Springer Tracts in Advanced Robotics, pages 393-419, 2017. [doi]