{"id":"https://openalex.org/W2103888680","doi":"https://doi.org/10.1109/cdc.2005.1583497","title":"Time-energy optimal control of hyper-actuated mechanical systems with geometric path constraints","display_name":"Time-energy optimal control of hyper-actuated mechanical systems with geometric path constraints","publication_year":2006,"publication_date":"2006-10-04","ids":{"openalex":"https://openalex.org/W2103888680","doi":"https://doi.org/10.1109/cdc.2005.1583497","mag":"2103888680"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2005.1583497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2005.1583497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 44th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017693598","display_name":"Jack Aldrich","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"J.B. Aldrich","raw_affiliation_strings":["Jet Propulsion Laboratory, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091183358","display_name":"Robert E. Skelton","orcid":"https://orcid.org/0000-0001-6503-9115"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R.E. Skelton","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5017693598"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":5.458,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.95204928,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8246","last_page":"8253"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9991999864578247,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9921000003814697,"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/path","display_name":"Path (computing)","score":0.6112852096557617},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5395544767379761},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5214835405349731},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5000734329223633},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49008405208587646},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.4682926535606384},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.42848747968673706},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.351278692483902},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.31056469678878784},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19908544421195984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18499025702476501},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13306310772895813}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6112852096557617},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5395544767379761},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5214835405349731},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5000734329223633},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49008405208587646},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4682926535606384},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.42848747968673706},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.351278692483902},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.31056469678878784},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19908544421195984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18499025702476501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13306310772895813},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2005.1583497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2005.1583497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 44th IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W2115091574","https://openalex.org/W2142981033","https://openalex.org/W2152616154","https://openalex.org/W2157247055","https://openalex.org/W2163343955","https://openalex.org/W2798500587","https://openalex.org/W4236400251"],"related_works":["https://openalex.org/W1892002403","https://openalex.org/W4309005041","https://openalex.org/W2962746246","https://openalex.org/W1989531755","https://openalex.org/W1967384683","https://openalex.org/W2892237068","https://openalex.org/W1901119619","https://openalex.org/W2058275692","https://openalex.org/W79791238","https://openalex.org/W120243950"],"abstract_inverted_index":{"For":[0],"a":[1,28,47,66,111],"general":[2],"class":[3],"of":[4,30,65,75,84,121,129,140],"Hyper-Actuated":[5],"Mechanical":[6],"Systems":[7],"(HAMS)":[8],"that":[9,34,70,117],"is":[10,79,90,144],"generalized":[11],"to":[12,43,136],"include":[13],"robotic":[14],"manipulators":[15],"and":[16,53,63,125,151,156],"tendon-driven":[17],"tensegrity":[18],"structures,":[19],"this":[20,88],"paper":[21,102],"determines":[22,103],"the":[23,37,60,73,82,96,104,119,122,127,132,149],"tendon":[24,77],"force":[25],"inputs":[26],"from":[27,40],"set":[29,74,83,124],"admissible,":[31],"non-saturating":[32],"inputs,":[33],"will":[35],"move":[36],"rigid-body":[38],"system":[39],"point":[41,44],"A":[42],"B":[45],"along":[46],"prescribed":[48],"path":[49],"with":[50],"minimum":[51],"time":[52],"control":[54,97,113,134],"energy.":[55],"The":[56,138],"approach":[57],"herein":[58],"utilizes":[59],"existence":[61],"conditions":[62],"solution":[64],"linear":[67],"algebra":[68],"problem":[69,135],"describes":[71],"how":[72],"admissible":[76,123],"forces":[78],"mapped":[80],"onto":[81],"path-dependent":[85],"torques.":[86],"Since":[87],"mapping":[89],"not":[91],"one-to-one,":[92],"free":[93,107],"parameters":[94],"in":[95,131,142],"law":[98,114],"always":[99],"exist.":[100],"This":[101,109],"best":[105],"time-invariant":[106],"parameters.":[108],"yields":[110],"novel":[112],"for":[115],"HAMS":[116,141],"tracks":[118],"center":[120],"reduces":[126],"number":[128],"states":[130],"optimal":[133],"two.":[137],"prevalence":[139],"nature":[143],"discussed.":[145],"Numerical":[146],"examples":[147],"illustrate":[148],"method":[150],"demonstrate":[152],"tensegrity\u2019s":[153],"superior":[154],"maneuvering":[155],"saturation":[157],"avoidance":[158],"capabilities.":[159]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}