{"id":"https://openalex.org/W2062896831","doi":"https://doi.org/10.1109/iros.2010.5653646","title":"Models for pushing objects with a mobile robot using single point contact","display_name":"Models for pushing objects with a mobile robot using single point contact","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2062896831","doi":"https://doi.org/10.1109/iros.2010.5653646","mag":"2062896831"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5653646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5653646","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://opus.lib.uts.edu.au/bitstream/10453/16177/1/2010000651.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040558249","display_name":"Michael Behrens","orcid":"https://orcid.org/0000-0002-3072-059X"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Michael Behrens","raw_affiliation_strings":["Faculty of Engineering and Information Technology, Sydney University of Technology, Australia","Faculty of Engineering and Information Technology, University of Technology, Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Information Technology, Sydney University of Technology, Australia","institution_ids":["https://openalex.org/I114017466","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Faculty of Engineering and Information Technology, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061250474","display_name":"Shoudong Huang","orcid":"https://orcid.org/0000-0002-6124-4178"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Shoudong Huang","raw_affiliation_strings":["Faculty of Engineering and Information Technology, Sydney University of Technology, Australia","Faculty of Engineering and Information Technology, University of Technology, Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Information Technology, Sydney University of Technology, Australia","institution_ids":["https://openalex.org/I114017466","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Faculty of Engineering and Information Technology, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091185859","display_name":"Gamini Dissanayake","orcid":"https://orcid.org/0000-0002-7992-0680"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]},{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gamini Dissanayake","raw_affiliation_strings":["Faculty of Engineering and Information Technology, Sydney University of Technology, Australia","Faculty of Engineering and Information Technology, University of Technology, Sydney, Australia"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Information Technology, Sydney University of Technology, Australia","institution_ids":["https://openalex.org/I114017466","https://openalex.org/I129604602"]},{"raw_affiliation_string":"Faculty of Engineering and Information Technology, University of Technology, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5040558249"],"corresponding_institution_ids":["https://openalex.org/I114017466","https://openalex.org/I129604602"],"apc_list":null,"apc_paid":null,"fwci":0.7288,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.77515879,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2964","last_page":"2969"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6899967193603516},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6846911907196045},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6540987491607666},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.6453523635864258},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6315925121307373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.611909806728363},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6021566390991211},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5733086466789246},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48118168115615845},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.4613184630870819},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46058860421180725},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4594572186470032},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42344895005226135},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41795456409454346},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3762795031070709},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3629240393638611},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20255684852600098},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2004503607749939},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11606478691101074},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10283014178276062},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09804105758666992},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08484604954719543}],"concepts":[{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6899967193603516},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6846911907196045},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6540987491607666},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.6453523635864258},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6315925121307373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.611909806728363},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6021566390991211},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5733086466789246},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48118168115615845},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.4613184630870819},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46058860421180725},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4594572186470032},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42344895005226135},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41795456409454346},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3762795031070709},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3629240393638611},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20255684852600098},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2004503607749939},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11606478691101074},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10283014178276062},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09804105758666992},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08484604954719543},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5653646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5653646","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/16177","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/16177","pdf_url":"https://opus.lib.uts.edu.au/bitstream/10453/16177/1/2010000651.pdf","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"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 Proceeding"}],"best_oa_location":{"id":"pmh:oai:opus.lib.uts.edu.au:10453/16177","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/16177","pdf_url":"https://opus.lib.uts.edu.au/bitstream/10453/16177/1/2010000651.pdf","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"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 Proceeding"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.41999998688697815,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2062896831.pdf","grobid_xml":"https://content.openalex.org/works/W2062896831.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W166615952","https://openalex.org/W1532551972","https://openalex.org/W1875611313","https://openalex.org/W1961028564","https://openalex.org/W2018014613","https://openalex.org/W2050708324","https://openalex.org/W2098030884","https://openalex.org/W2106723696","https://openalex.org/W2127218100","https://openalex.org/W2146881125","https://openalex.org/W2153603145","https://openalex.org/W2310734115","https://openalex.org/W2313475450","https://openalex.org/W4214898858","https://openalex.org/W6698549271"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W2127776540","https://openalex.org/W2365582959","https://openalex.org/W2156868854","https://openalex.org/W2717412651","https://openalex.org/W2363850121","https://openalex.org/W2147349727","https://openalex.org/W2007583701","https://openalex.org/W2056060483","https://openalex.org/W4244593870"],"abstract_inverted_index":{"In":[0],"many":[1],"mobile":[2],"robotic":[3],"manipulation":[4,23],"tasks":[5],"it":[6],"is":[7,77,86,106],"desirable":[8],"to":[9,27,37,108],"interact":[10,28],"with":[11,89],"the":[12,18,44,61,66,100,109,116],"robots":[13],"surroundings":[14],"without":[15],"actually":[16],"grasping":[17],"object":[19,52,105],"being":[20],"manipulated.":[21],"Non-prehensile":[22],"allows":[24],"a":[25,47,55,90,103,112],"robot":[26],"in":[29,60],"situations":[30],"which":[31],"would":[32],"otherwise":[33],"be":[34],"impossible":[35],"due":[36],"size":[38],"or":[39],"weight.":[40],"This":[41,75],"paper":[42],"presents":[43],"derivation":[45],"of":[46,50,63,69,102,111,118],"mathematical":[48],"model":[49,76,85],"an":[51],"pushed":[53,104],"by":[54],"single":[56],"point":[57],"and":[58,71,123],"sliding":[59],"presence":[62],"friction":[64],"where":[65],"dynamic":[67,84],"effects":[68],"mass":[70],"inertia":[72],"are":[73,121,129],"significant.":[74],"validated":[78],"using":[79],"numerical":[80],"simulation.":[81],"The":[82],"derived":[83],"also":[87],"compared":[88],"kinematic":[91],"approximation":[92],"from":[93],"literature,":[94],"showing":[95],"that":[96],"under":[97],"certain":[98],"conditions,":[99],"motion":[101,110],"similar":[107],"non-holonomic":[113],"vehicle.":[114],"Finally,":[115],"results":[117],"experimental":[119],"investigations":[120],"discussed":[122],"promising":[124],"directions":[125],"for":[126],"further":[127],"work":[128],"proposed.":[130]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}