AUBURN HILLS, Mich, Feb. 5 (Ticker) -- Jerry Stackhouse got the better of Allen Iverson for the first time in a while.

Stackhouse scored 29 points and Clifford Robinson nailed a clutch jumper over Iverson with 27 seconds left as the Detroit Pistons snapped a six-game losing streak against the Philadelphia 76ers with an 86-82 victory.

Stackhouse and Iverson were teammates for nearly 1 1/2 seasons before Philadelphia traded the high-scoring guard to Detroit on December 18, 1997. The Sixers have gotten increasingly better over the past four seasons and owned the Pistons, winning six straight meetings and 10 of 13 since the start of the 1998-99 season.

The game was following that trend before the Pistons closed the third quarter with 10 straight points. Chucky Atkins sparked the burst with a 3-pointer and Corliss Williamson followed with a jumper before Stackhouse tied it, 62-62, on a 25-footer with 82 seconds left.

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NBA.TV highlights from Sixers-Pistons: 56k | 300k Jerry Stackhouse scored 19 of his game-high 29 points in the first half.

"We just had to grind it out, we seemed a little sluggish early in the game," Stackhouse said. "I had to do something to get us fired up and I think that the guys responded. Everybody picked it up from there. It just seemed like our confidence level enabled us to make plays and our defense was unbelievable late in the game."

"Jerry made some shots during that run they got some easy baskets," Sixers guard Eric Snow said. "They had a lot of layups. Whenever you're giving teams easy baskets it gets their energy up, gets their confidence up. They went into the fourth quarter with the lead and it basically became a 12-minute game and they won it."

Detroit took the lead for good, 64-62, after Williamson made a layup to cap the spurt with 19 seconds remaining.

Iverson shot an airball with three seconds left in the quarter, which was just a glimpse of what was to come in the fourth.

The Pistons were clinging to a 76-74 lead in the fourth quarter before Atkins nailed a 3-pointer with 3:20 left. Stackhouse's fadeaway extended the advantage to 81-76 just over a minute later before Corie Blount made a follow shot for Philadelphia.

Neither team scored again until Robinson made perhaps his biggest basket of the season. He got the ball in the right corner with the shot clock winding down, dribbled once and took a step toward the baseline before draining a shot over the 6-foot Iverson, who was caught on a switch.

The defensive miscue capped a terrible second half by Iverson, who finished with 26 points but made just 7-of-31 shots. He missed his final 10 shots and was 0-of-7 in the fourth quarter.

"He didn't make any shots," Sixers coach Larry Brown said. "They were doubling him and he had a lot of guys who left him out there."

"I got kind of frustrated when I was missing shots I normally can make," Iverson said. "I'm just going to go looking for my shot because it just left me tonight. You just keep shooting. I'm a scorer and that's what I do. My team depends on me to shoot the ball. This was one of those games in my six-year career that I'll just like to forget about."

Iverson typified the offensive performance by the Sixers, who shot just 35 percent (27-of-77) and made just 11-of-37 shots after halftime.

Stackhouse sank 9-of-20 shots for the Pistons, who shot just 40 percent (32-of-82) and were outrebounded, 52-42. They also won despite being outscored, 27-15 at the free-throw line.

"It was not the prettiest of games," Carlisle said. "But you know what they say, beauty is in the eye of the beholder. It was a great defensive effort."

Williamson finished with 18 points, outscoring the entire Sixers' bench by 10.

"We only had 10 guys on the bench," Brown said. "We didn't have a very deep bench, but that's no excuse."

Robinson scored 14 points and Atkins scored all 10 of his points in the second half and was mainly responsible for the excellent defensive job on Iverson.

"You know he's going to get his 30 shots a game but you want to make him work for every one, make him use energy," Atkins said. "It's tough to defend him because you have to chase him through all the screens and then you're isolated on an island with him. That's a long 10 seconds when he can do anything he wants with the ball."

Dikembe Mutumbo had 17 points and 10 rebounds and Blount collected 10 and 10 for the Sixers, who have lost three of their last five games.