{"id":"https://openalex.org/W73520030","doi":"https://doi.org/10.58088/745p-d085","title":"Intrinsic geometric path for a new kinematic template","display_name":"Intrinsic geometric path for a new kinematic template","publication_year":2014,"publication_date":"2014-01-01","ids":{"openalex":"https://openalex.org/W73520030","doi":"https://doi.org/10.58088/745p-d085","mag":"73520030"},"language":"en","primary_location":{"id":"pmh:oai:udspace.udel.edu:19716/16306","doi":null,"is_oa":true,"landing_page_url":"http://udspace.udel.edu/handle/19716/16306","pdf_url":"http://udspace.udel.edu/handle/19716/16306","source":{"id":"https://openalex.org/S4377196565","display_name":"Library, Museums and Press - UDSpace (University of Delaware)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I86501945","host_organization_name":"University of Delaware","host_organization_lineage":["https://openalex.org/I86501945"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},"volume":null,"type":"dissertation","is_traditional":true,"indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://udspace.udel.edu/handle/19716/16306","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100351049","display_name":"Yan Liu","orcid":"https://orcid.org/0000-0002-1334-9629","observed_orcids":["https://orcid.org/0000-0002-1334-9629"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Liu, Yan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5100351049"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.7896000146865845,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.7896000146865845,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.10029999911785126,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.07720000296831131,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematic-model","display_name":"kinematic modeling","score":0.7139999866485596},{"id":"https://openalex.org/keywords/movement-primitives","display_name":"motion primitives","score":0.8059999942779541},{"id":"https://openalex.org/keywords/radius-of-curvature","display_name":"radius of curvature","score":0.8479999899864197},{"id":"https://openalex.org/keywords/nonholonomic-motion-planning","display_name":"nonholonomic motion planning","score":0.8230000138282776},{"id":"https://openalex.org/keywords/small-robots","display_name":"small robots","score":0.5770000219345093},{"id":"https://openalex.org/keywords/path-curvature","display_name":"path curvature","score":0.3959999978542328}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7669234275817871},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5403333902359009},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.4037604033946991},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3976391553878784},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3266889750957489},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.306379109621048},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.28001919388771057},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.229811429977417},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.07957121729850769}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:udspace.udel.edu:19716/16306","doi":null,"is_oa":true,"landing_page_url":"http://udspace.udel.edu/handle/19716/16306","pdf_url":"http://udspace.udel.edu/handle/19716/16306","source":{"id":"https://openalex.org/S4377196565","display_name":"Library, Museums and Press - UDSpace (University of Delaware)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I86501945","host_organization_name":"University of Delaware","host_organization_lineage":["https://openalex.org/I86501945"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},{"id":"mag:73520030","doi":null,"is_oa":false,"landing_page_url":"https://dspace.udel.edu/handle/19716/16306","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},{"id":"doi:10.58088/745p-d085","doi":"https://doi.org/10.58088/745p-d085","is_oa":true,"landing_page_url":"https://doi.org/10.58088/745p-d085","pdf_url":null,"source":{"id":"https://openalex.org/S7407052053","display_name":"University of Delaware","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I86501945","host_organization_name":"University of Delaware","host_organization_lineage":["https://openalex.org/I86501945"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Dissertation"}],"best_oa_location":{"id":"pmh:oai:udspace.udel.edu:19716/16306","doi":null,"is_oa":true,"landing_page_url":"http://udspace.udel.edu/handle/19716/16306","pdf_url":"http://udspace.udel.edu/handle/19716/16306","source":{"id":"https://openalex.org/S4377196565","display_name":"Library, Museums and Press - UDSpace (University of Delaware)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I86501945","host_organization_name":"University of Delaware","host_organization_lineage":["https://openalex.org/I86501945"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W73520030.pdf","grobid_xml":"https://content.openalex.org/works/W73520030.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1486932855","https://openalex.org/W1501018688","https://openalex.org/W1521785144","https://openalex.org/W1565212980","https://openalex.org/W1594295362","https://openalex.org/W1670000279","https://openalex.org/W1822001265","https://openalex.org/W1966503067","https://openalex.org/W1971998222","https://openalex.org/W1975543753","https://openalex.org/W1978301848","https://openalex.org/W1994351320","https://openalex.org/W2000359213","https://openalex.org/W2003835006","https://openalex.org/W2017263399","https://openalex.org/W2020530538","https://openalex.org/W2024084391","https://openalex.org/W2039279693","https://openalex.org/W2055014394","https://openalex.org/W2058786336","https://openalex.org/W2096169664","https://openalex.org/W2096636360","https://openalex.org/W2098998403","https://openalex.org/W2099660316","https://openalex.org/W2104432325","https://openalex.org/W2104980593","https://openalex.org/W2111931405","https://openalex.org/W2113755254","https://openalex.org/W2128990851","https://openalex.org/W2134854819","https://openalex.org/W2137995770","https://openalex.org/W2141664020","https://openalex.org/W2148970883","https://openalex.org/W2150868628","https://openalex.org/W2153219011","https://openalex.org/W2158827765","https://openalex.org/W2313274380","https://openalex.org/W2611243847"],"related_works":["https://openalex.org/W1966503067","https://openalex.org/W2340944476","https://openalex.org/W2735031858","https://openalex.org/W1961676567","https://openalex.org/W4408962266","https://openalex.org/W1975543753","https://openalex.org/W2231826830","https://openalex.org/W3026963751","https://openalex.org/W7155835420","https://openalex.org/W1989065580"],"abstract_inverted_index":{"OctoRoACH":[0,78],"is":[1,8,44,145],"a":[2,12,63,88,119,160],"miniature":[3,187],"eight":[4],"legged":[5],"robot":[6,36],"which":[7],"envisioned":[9],"to":[10,37,46,121,173],"be":[11,23],"step":[13],"toward":[14],"the":[15,35,48,72,77,82,123,128,137,148,156,168,174,178,181],"development":[16],"of":[17,55,71,76,125,127,150,180],"small":[18],"crawling":[19],"robots":[20],"that":[21,66,158],"can":[22],"used":[24],"for":[25,52,97],"reconnaissance,":[26],"search":[27],"and":[28,106,142,177],"rescue,":[29],"sensor":[30],"coverage,":[31],"etc.":[32],"To":[33],"enable":[34],"complete":[38],"task":[39],"along":[40],"these":[41,53,186],"lines,":[42],"it":[43],"necessary":[45],"solve":[47],"motion":[49,74,93,152,182],"planning":[50,153,183],"problem":[51,184],"types":[54],"robotic":[56],"platforms.":[57],"In":[58],"this":[59,98,114,133],"thesis,":[60],"we":[61],"study":[62,179],"kinematic":[64,134,164,175],"model":[65,140,165],"serves":[67],"as":[68,167],"an":[69],"abstraction":[70],"quasi-static":[73],"behavior":[75],"robot.":[79],"We":[80],"see":[81],"eight-legged":[83],"mechanism":[84],"being":[85],"abstracted":[86],"into":[87],"switching":[89],"four-bar":[90],"linkage.":[91],"Three":[92],"primitives":[94],"are":[95],"defined":[96],"model:":[99],"straight":[100],"line":[101],"motion,":[102],"left":[103],"turn":[104,108],"arc":[105],"right":[107],"arc.":[109],"The":[110],"work":[111],"described":[112],"in":[113,185],"thesis":[115],"contributes":[116],"by":[117,132],"providing":[118],"method":[120],"quantify":[122],"radius":[124],"curvature":[126],"curved":[129],"paths":[130],"generated":[131],"model.":[135],"Once":[136],"link":[138],"between":[139],"parameters":[141],"path":[143],"curvatures":[144],"made,":[146],"then":[147],"wealth":[149],"existing":[151],"methods,":[154],"specifically":[155],"ones":[157],"involve":[159],"well":[161],"studied":[162],"nonholonomic":[163],"known":[166],"Dubin's":[169],"car,":[170],"become":[171],"relevant":[172],"analysis":[176],"robots.":[188]},"counts_by_year":[],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2016-06-24T00:00:00"}