@article{kolathaya2018direct,
  title={Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers},
  author={Kolathaya, Shishir and Guffey, William and Sinnet, Ryan W and Ames, Aaron D},
  journal={IEEE Robotics and Automation Letters},
  volume={3},
  number={4},
  pages={3677--3684},
  year={2018},
  publisher={IEEE},
 url = {http://ames.caltech.edu/kolathaya2018directtrajectory.pdf},
 url_video = {https://youtu.be/cBhngkE0WLY}
}

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