@ARTICLE{8410040, 
author={S. Kolathaya and W. Guffey and R. W. Sinnet and A. D. Ames}, 
journal={IEEE Robotics and Automation Letters}, 
title={Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers}, 
year={2018}, 
volume={3}, 
number={4}, 
pages={3677-3684}, 
keywords={Robots;Task analysis;Friction;Acceleration;Trajectory optimization;Trajectory optimization;dynamic motion planning;nonprehensile contacts;manipulation planning}, 
doi={10.1109/LRA.2018.2854910}, 
ISSN={2377-3766}, 
month={Oct},}