@ARTICLE{7533508,
  author={Sintov, Avishai and Tslil, Or and Shapiro, Amir},
  journal={IEEE Transactions on Robotics}, 
  title={Robotic Swing-Up Regrasping Manipulation Based on the Impulse–Momentum Approach and cLQR Control}, 
  year={2016},
  volume={32},
  number={5},
  pages={1079-1090},
  doi={10.1109/TRO.2016.2593053}}