{"id":"https://openalex.org/W2109970664","doi":"https://doi.org/10.1109/robot.2005.1570562","title":"Operational Space Control of Multibody Systems with Explicit Holonomic Constraints","display_name":"Operational Space Control of Multibody Systems with Explicit Holonomic Constraints","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2109970664","doi":"https://doi.org/10.1109/robot.2005.1570562","mag":"2109970664"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570562","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5044695992","display_name":"Vincent De Sapio","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"V. de Sapio","raw_affiliation_strings":["Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA","Artificial Intelligence Laboratory Stanford University Stanford, CA 94305, USA; vdesap@robotics.stanford.edu"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Artificial Intelligence Laboratory Stanford University Stanford, CA 94305, USA; vdesap@robotics.stanford.edu","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051336665","display_name":"Oussama Khatib","orcid":"https://orcid.org/0000-0003-0482-1415"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"O. Khatib","raw_affiliation_strings":["Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA","vdesap@robotics.stanford.edu"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"vdesap@robotics.stanford.edu","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5044695992"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":9.0967,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.97521179,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"2950","last_page":"2956"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"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":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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":0.9965999722480774,"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/lagrange-multiplier","display_name":"Lagrange multiplier","score":0.7439621090888977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5987998247146606},{"id":"https://openalex.org/keywords/multibody-system","display_name":"Multibody system","score":0.5851782560348511},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.5789622664451599},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.5315912365913391},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.4940984547138214},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47798365354537964},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.4654774069786072},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4208926856517792},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.41124778985977173},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.403495728969574},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36982259154319763},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32910487055778503},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26596927642822266},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21541908383369446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1748700737953186},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11816838383674622}],"concepts":[{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.7439621090888977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5987998247146606},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.5851782560348511},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.5789622664451599},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.5315912365913391},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.4940984547138214},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47798365354537964},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.4654774069786072},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4208926856517792},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.41124778985977173},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.403495728969574},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36982259154319763},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32910487055778503},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26596927642822266},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21541908383369446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1748700737953186},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11816838383674622},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570562","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W100185721","https://openalex.org/W639693478","https://openalex.org/W1545600592","https://openalex.org/W1569339351","https://openalex.org/W1602870641","https://openalex.org/W1917097748","https://openalex.org/W1967185903","https://openalex.org/W1990777642","https://openalex.org/W2044218253","https://openalex.org/W2062691475","https://openalex.org/W2066379939","https://openalex.org/W2112474089","https://openalex.org/W2115455197","https://openalex.org/W2155296698","https://openalex.org/W2156512539","https://openalex.org/W2159778810","https://openalex.org/W2164833077","https://openalex.org/W2312644716","https://openalex.org/W2328053688","https://openalex.org/W4205720104","https://openalex.org/W4213214460","https://openalex.org/W4232776841","https://openalex.org/W4233512036","https://openalex.org/W4255309624","https://openalex.org/W4300449315","https://openalex.org/W6683420530"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W2127776540","https://openalex.org/W76235543","https://openalex.org/W45593259","https://openalex.org/W641237144","https://openalex.org/W1973747674","https://openalex.org/W4378942199","https://openalex.org/W2074786897","https://openalex.org/W2018918536","https://openalex.org/W2183446508"],"abstract_inverted_index":{"This":[0,76],"paper":[1],"presents":[2],"an":[3],"operational":[4,56],"space":[5,50,57,74],"control":[6,58,84,96],"approach":[7],"for":[8,54],"the":[9,22,64,87],"general":[10,23,65],"class":[11],"of":[12,20,25,67,80,92],"holonomically":[13],"constrained":[14,26,37,55,68,88],"multibody":[15,69],"systems.":[16],"As":[17],"a":[18,72,78],"point":[19],"departure,":[21],"formulation":[24,66],"dynamical":[27],"systems":[28,70],"is":[29,40,59],"addressed":[30],"using":[31],"multiplier":[32],"and":[33],"minimization":[34],"approaches.":[35],"The":[36],"dynamics":[38],"problem":[39],"interpreted":[41],"with":[42,48],"respect":[43],"to":[44],"its":[45],"underlying":[46],"symmetry":[47],"task":[49,73],"dynamics.":[51],"A":[52,90],"framework":[53],"then":[60],"presented":[61],"which":[62],"casts":[63],"into":[71],"setting.":[75],"provides":[77],"means":[79],"exploiting":[81],"natural":[82],"task-level":[83],"structures":[85],"within":[86],"environment.":[89],"set":[91],"examples":[93],"illustrate":[94],"this":[95],"implementation.":[97]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}