Avishai Sintov Or Tslil Amir Shapiro Robotic Swing-Up Regrasping Manipulation Based on the Impulse-Momentum Approach and cLQR Control. 1079-1090 2016 32 IEEE Trans. Robotics 5 https://doi.org/10.1109/TRO.2016.2593053 db/journals/trob/trob32.html#SintovTS16