@article{Ti24TRO,
	author={Ti, B. and Gao, Y. and Zhao, J. and Calinon, S.},
	title={An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks},
	journal={{IEEE} Transactions on Robotics ({T-RO})},
	year={2024},
	volume={40},
	pages={1966--82},
	doi={10.1109/TRO.2024.3365993}
}