{"id":"https://openalex.org/W3004408695","doi":"https://doi.org/10.1109/icra40945.2020.9197306","title":"Singularity-Free Inverse Dynamics for Underactuated Systems with a Rotating Mass","display_name":"Singularity-Free Inverse Dynamics for Underactuated Systems with a Rotating Mass","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3004408695","doi":"https://doi.org/10.1109/icra40945.2020.9197306","mag":"3004408695"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197306","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197306","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2001.10429","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Seyed Amir Tafrishi","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Seyed Amir Tafrishi","raw_affiliation_strings":["Department of Mechanical Engineering, Kyushu University, Kyushu, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyushu University, Kyushu, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mikhail Svinin","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mikhail Svinin","raw_affiliation_strings":["Department of Information Science and Engineering, Ritsumeikan University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Information Science and Engineering, Ritsumeikan University, Kyoto, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":null,"display_name":"Motoji Yamamoto","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Motoji Yamamoto","raw_affiliation_strings":["Department of Mechanical Engineering, Kyushu University, Kyushu, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyushu University, Kyushu, Japan","institution_ids":["https://openalex.org/I135598925"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":null,"apc_paid":null,"fwci":0.4451,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.60470185,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3981","last_page":"3987"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9993000030517578,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9993000030517578,"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":0.9988999962806702,"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/T10244","display_name":"Chaos control and synchronization","score":0.9818000197410583,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8134999871253967},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.7192999720573425},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.6470999717712402},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6277999877929688},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5810999870300293},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5655999779701233},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.5199000239372253},{"id":"https://openalex.org/keywords/positive-definiteness","display_name":"Positive definiteness","score":0.5123000144958496},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4848000109195709},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4726000130176544}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8134999871253967},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.7192999720573425},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.6470999717712402},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6277999877929688},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5810999870300293},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5655999779701233},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.5199000239372253},{"id":"https://openalex.org/C2778265155","wikidata":"https://www.wikidata.org/wiki/Q7233276","display_name":"Positive definiteness","level":4,"score":0.5123000144958496},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4848000109195709},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.47429999709129333},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4726000130176544},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.462799996137619},{"id":"https://openalex.org/C140279962","wikidata":"https://www.wikidata.org/wiki/Q16002931","display_name":"Analytical dynamics","level":5,"score":0.44850000739097595},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4417000114917755},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.43059998750686646},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.42910000681877136},{"id":"https://openalex.org/C499771625","wikidata":"https://www.wikidata.org/wiki/Q324669","display_name":"Lagrangian mechanics","level":5,"score":0.4219000041484833},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3982999920845032},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3628000020980835},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.3617999851703644},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.35580000281333923},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C203616005","wikidata":"https://www.wikidata.org/wiki/Q620495","display_name":"Hessian matrix","level":2,"score":0.30489999055862427},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.2971999943256378},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.29440000653266907},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.290800005197525},{"id":"https://openalex.org/C53469067","wikidata":"https://www.wikidata.org/wiki/Q505735","display_name":"Lagrangian","level":2,"score":0.28360000252723694},{"id":"https://openalex.org/C30811805","wikidata":"https://www.wikidata.org/wiki/Q212126","display_name":"Fictitious force","level":2,"score":0.27950000762939453},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C28461519","wikidata":"https://www.wikidata.org/wiki/Q2037529","display_name":"Rigid body dynamics","level":3,"score":0.2630000114440918},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2567000091075897},{"id":"https://openalex.org/C10238366","wikidata":"https://www.wikidata.org/wiki/Q165618","display_name":"Moment of inertia","level":2,"score":0.2531999945640564}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra40945.2020.9197306","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197306","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2001.10429","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.10429","pdf_url":"https://arxiv.org/pdf/2001.10429","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"pmh:oai:https://orca.cardiff.ac.uk:155883","is_oa":false,"landing_page_url":"https://orca.cardiff.ac.uk/id/eprint/155883/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2001.10429","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.10429","pdf_url":"https://arxiv.org/pdf/2001.10429","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W120243950","https://openalex.org/W631857329","https://openalex.org/W1524747501","https://openalex.org/W1528185279","https://openalex.org/W1941843239","https://openalex.org/W1970346387","https://openalex.org/W1977115135","https://openalex.org/W2013232999","https://openalex.org/W2040591779","https://openalex.org/W2098199928","https://openalex.org/W2109993961","https://openalex.org/W2127055892","https://openalex.org/W2140907765","https://openalex.org/W2159699010","https://openalex.org/W2768491801","https://openalex.org/W2943503667","https://openalex.org/W2972591481","https://openalex.org/W2998768447"],"related_works":[],"abstract_inverted_index":{"Motion":[0],"control":[1],"of":[2,42,97,121],"underactuated":[3,71],"systems":[4],"through":[5],"the":[6,20,40,43,57,66,76,86,94,98,102,106,118,122,132,135,146],"inverse":[7,103],"dynamics":[8,60],"contains":[9],"configuration":[10,15],"singularities.":[11,88],"These":[12],"limitations":[13],"in":[14,101],"space":[16],"mainly":[17],"stem":[18],"from":[19,37,93],"inertial":[21],"coupling":[22,87],"that":[23,34],"passive":[24],"joints/bodies":[25],"create.":[26],"In":[27],"this":[28,70],"study,":[29],"we":[30,55],"present":[31],"a":[32,47,62,113,139],"model":[33],"is":[35,73,129],"free":[36],"singularity":[38,67],"while":[39],"trajectory":[41],"rotating":[44],"mass":[45],"has":[46,138],"small-amplitude":[48],"sine":[49],"wave":[50,77],"around":[51],"its":[52],"circle.":[53],"First,":[54],"derive":[56],"modified":[58],"non-linear":[59,133],"for":[61,69],"rolling":[63,123],"system.":[64],"Also,":[65],"regions":[68],"system":[72],"demonstrated.":[74],"Then,":[75],"parameters":[78],"are":[79,109],"designed":[80],"under":[81],"certain":[82],"conditions":[83,92],"to":[84,142,145],"remove":[85],"We":[89],"obtain":[90],"these":[91],"positive":[95],"definiteness":[96],"inertia":[99],"matrix":[100],"dynamics.":[104],"Finally,":[105],"simulation":[107],"results":[108],"confirmed":[110],"by":[111],"using":[112],"prescribed":[114],"Beta":[115],"function":[116],"on":[117],"specified":[119],"states":[120],"carrier.":[124],"Because":[125],"our":[126],"algebraic":[127],"method":[128],"integrated":[130],"into":[131],"dynamics,":[134],"proposed":[136],"solution":[137],"great":[140],"potential":[141],"be":[143],"extended":[144],"Lagrangian":[147],"mechanics":[148],"with":[149],"multiple":[150],"degrees-of-freedom.":[151]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2020-02-07T00:00:00"}
