{"id":"https://openalex.org/W2781456419","doi":"https://doi.org/10.1007/s00332-017-9434-x","title":"Reduced Dynamics of the Non-holonomic Whipple Bicycle","display_name":"Reduced Dynamics of the Non-holonomic Whipple Bicycle","publication_year":2017,"publication_date":"2017-12-27","ids":{"openalex":"https://openalex.org/W2781456419","doi":"https://doi.org/10.1007/s00332-017-9434-x","mag":"2781456419"},"language":"en","primary_location":{"id":"doi:10.1007/s00332-017-9434-x","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00332-017-9434-x","pdf_url":null,"source":{"id":"https://openalex.org/S131276044","display_name":"Journal of Nonlinear Science","issn_l":"0938-8974","issn":["0938-8974","1432-1467"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Nonlinear Science","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01717298","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070115867","display_name":"Fr\u00e9d\u00e9ric Boyer","orcid":"https://orcid.org/0000-0003-0021-9590"},"institutions":[{"id":"https://openalex.org/I4210098480","display_name":"Vivant (United States)","ror":"https://ror.org/00xsmqz41","country_code":"US","type":"company","lineage":["https://openalex.org/I4210098480"]},{"id":"https://openalex.org/I4210127572","display_name":"IMT Atlantique","ror":"https://ror.org/030hj3061","country_code":"FR","type":"education","lineage":["https://openalex.org/I205703379","https://openalex.org/I4210127572"]},{"id":"https://openalex.org/I4210143894","display_name":"Laboratoire d'Automatique, G\u00e9nie Informatique et Signal","ror":"https://ror.org/04wez4p43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210131494","https://openalex.org/I4210137101","https://openalex.org/I4210139971","https://openalex.org/I4210143894","https://openalex.org/I7454413"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Fr\u00e9d\u00e9ric Boyer","raw_affiliation_strings":["IMT Atlantique Bretagne-Pays de la Loire, Campus de Nantes, 4, rue Alfred Kastler - La Chantrerie, CS 20722, 44307, Nantes cedex 3, France","Robotique Et Vivant","D\u00e9partement Automatique, Productique et Informatique"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IMT Atlantique Bretagne-Pays de la Loire, Campus de Nantes, 4, rue Alfred Kastler - La Chantrerie, CS 20722, 44307, Nantes cedex 3, France","institution_ids":["https://openalex.org/I4210127572"]},{"raw_affiliation_string":"Robotique Et Vivant","institution_ids":["https://openalex.org/I4210098480"]},{"raw_affiliation_string":"D\u00e9partement Automatique, Productique et Informatique","institution_ids":["https://openalex.org/I4210143894"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089874621","display_name":"Mathieu Porez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210098480","display_name":"Vivant (United States)","ror":"https://ror.org/00xsmqz41","country_code":"US","type":"company","lineage":["https://openalex.org/I4210098480"]},{"id":"https://openalex.org/I4210127572","display_name":"IMT Atlantique","ror":"https://ror.org/030hj3061","country_code":"FR","type":"education","lineage":["https://openalex.org/I205703379","https://openalex.org/I4210127572"]},{"id":"https://openalex.org/I4210143894","display_name":"Laboratoire d'Automatique, G\u00e9nie Informatique et Signal","ror":"https://ror.org/04wez4p43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210131494","https://openalex.org/I4210137101","https://openalex.org/I4210139971","https://openalex.org/I4210143894","https://openalex.org/I7454413"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Mathieu Porez","raw_affiliation_strings":["IMT Atlantique Bretagne-Pays de la Loire, Campus de Nantes, 4, rue Alfred Kastler - La Chantrerie, CS 20722, 44307, Nantes cedex 3, France","D\u00e9partement Automatique, Productique et Informatique","Robotique Et Vivant"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IMT Atlantique Bretagne-Pays de la Loire, Campus de Nantes, 4, rue Alfred Kastler - La Chantrerie, CS 20722, 44307, Nantes cedex 3, France","institution_ids":["https://openalex.org/I4210127572"]},{"raw_affiliation_string":"D\u00e9partement Automatique, Productique et Informatique","institution_ids":["https://openalex.org/I4210143894"]},{"raw_affiliation_string":"Robotique Et Vivant","institution_ids":["https://openalex.org/I4210098480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055015356","display_name":"Johan Mauny","orcid":null},"institutions":[{"id":"https://openalex.org/I4210098480","display_name":"Vivant (United States)","ror":"https://ror.org/00xsmqz41","country_code":"US","type":"company","lineage":["https://openalex.org/I4210098480"]},{"id":"https://openalex.org/I4210127572","display_name":"IMT Atlantique","ror":"https://ror.org/030hj3061","country_code":"FR","type":"education","lineage":["https://openalex.org/I205703379","https://openalex.org/I4210127572"]},{"id":"https://openalex.org/I4210143894","display_name":"Laboratoire d'Automatique, G\u00e9nie Informatique et Signal","ror":"https://ror.org/04wez4p43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210131494","https://openalex.org/I4210137101","https://openalex.org/I4210139971","https://openalex.org/I4210143894","https://openalex.org/I7454413"]}],"countries":["FR","US"],"is_corresponding":true,"raw_author_name":"Johan Mauny","raw_affiliation_strings":["IMT Atlantique Bretagne-Pays de la Loire, Campus de Nantes, 4, rue Alfred Kastler - La Chantrerie, CS 20722, 44307, Nantes cedex 3, France","Robotique Et Vivant","D\u00e9partement Automatique, Productique et Informatique"],"raw_orcid":"https://orcid.org/0000-0003-4596-1801","affiliations":[{"raw_affiliation_string":"IMT Atlantique Bretagne-Pays de la Loire, Campus de Nantes, 4, rue Alfred Kastler - La Chantrerie, CS 20722, 44307, Nantes cedex 3, France","institution_ids":["https://openalex.org/I4210127572"]},{"raw_affiliation_string":"Robotique Et Vivant","institution_ids":["https://openalex.org/I4210098480"]},{"raw_affiliation_string":"D\u00e9partement Automatique, Productique et Informatique","institution_ids":["https://openalex.org/I4210143894"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5055015356"],"corresponding_institution_ids":["https://openalex.org/I4210098480","https://openalex.org/I4210127572","https://openalex.org/I4210143894"],"apc_list":{"value":2290,"currency":"EUR","value_usd":2890},"apc_paid":null,"fwci":1.2245,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.81592152,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"28","issue":"3","first_page":"943","last_page":"983"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9909999966621399,"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/holonomic-constraints","display_name":"Holonomic constraints","score":0.5735983848571777},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5189504623413086},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4968774616718292},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4346902370452881},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.43301236629486084},{"id":"https://openalex.org/keywords/symbolic-dynamics","display_name":"Symbolic dynamics","score":0.4241427183151245},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4143965542316437},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.40225979685783386},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3368281126022339},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.33563917875289917},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3241754174232483},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.20254838466644287},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1556239128112793},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.09763270616531372}],"concepts":[{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.5735983848571777},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5189504623413086},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4968774616718292},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4346902370452881},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.43301236629486084},{"id":"https://openalex.org/C16101541","wikidata":"https://www.wikidata.org/wiki/Q1350838","display_name":"Symbolic dynamics","level":2,"score":0.4241427183151245},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4143965542316437},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.40225979685783386},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3368281126022339},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.33563917875289917},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3241754174232483},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.20254838466644287},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1556239128112793},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.09763270616531372},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s00332-017-9434-x","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00332-017-9434-x","pdf_url":null,"source":{"id":"https://openalex.org/S131276044","display_name":"Journal of Nonlinear Science","issn_l":"0938-8974","issn":["0938-8974","1432-1467"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Nonlinear Science","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01717298v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01717298","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Nonlinear Science, 2017, ⟨10.1007/s00332-017-9434-x⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01717298v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01717298","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Nonlinear Science, 2017, ⟨10.1007/s00332-017-9434-x⟩","raw_type":"Journal articles"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1493432055","https://openalex.org/W1763790326","https://openalex.org/W1830668663","https://openalex.org/W1966086223","https://openalex.org/W1980030800","https://openalex.org/W1990721831","https://openalex.org/W1993300073","https://openalex.org/W2002942845","https://openalex.org/W2006724539","https://openalex.org/W2011747427","https://openalex.org/W2038067954","https://openalex.org/W2043569627","https://openalex.org/W2055315817","https://openalex.org/W2078676277","https://openalex.org/W2111213013","https://openalex.org/W2118605676","https://openalex.org/W2124052803","https://openalex.org/W2134966857","https://openalex.org/W2144026911","https://openalex.org/W2147831411","https://openalex.org/W2149012351","https://openalex.org/W2157402463","https://openalex.org/W2162621498","https://openalex.org/W2163453725","https://openalex.org/W2213633935","https://openalex.org/W2254570846","https://openalex.org/W2332062159","https://openalex.org/W4206858700","https://openalex.org/W4243369158","https://openalex.org/W4292078513"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W4233641791","https://openalex.org/W3098073919","https://openalex.org/W1985720644"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-16T07:32:37.131356","created_date":"2025-10-10T00:00:00"}