{"id":"https://openalex.org/W2121103440","doi":"https://doi.org/10.1109/robot.2006.1641940","title":"Towards automated gait generation for dynamic systems with non-holonomic constraints","display_name":"Towards automated gait generation for dynamic systems with non-holonomic constraints","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2121103440","doi":"https://doi.org/10.1109/robot.2006.1641940","mag":"2121103440"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},"type":"conference-paper","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/A5049264238","display_name":"Elie Shammas","orcid":"https://orcid.org/0000-0002-3604-334X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Shammas","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie-Mellon University, Pittsburgh, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie-Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Choset","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie-Mellon University, Pittsburgh, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie-Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111878701","display_name":"A.A. Rizzi","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Rizzi","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie-Mellon University, Pittsburgh, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie-Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1630","last_page":"1636"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9976000189781189,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.8960003852844238},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.7846107482910156},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.6205059885978699},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5424630641937256},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5277724266052246},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5103337168693542},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.48480096459388733},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.41874730587005615},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.3517395853996277},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.30270645022392273},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14803743362426758},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11619222164154053}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.8960003852844238},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.7846107482910156},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.6205059885978699},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5424630641937256},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5277724266052246},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5103337168693542},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.48480096459388733},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.41874730587005615},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.3517395853996277},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.30270645022392273},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14803743362426758},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11619222164154053},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1641940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W57077127","https://openalex.org/W1510199534","https://openalex.org/W1524590822","https://openalex.org/W1567573274","https://openalex.org/W1807907329","https://openalex.org/W1894551624","https://openalex.org/W1956275336","https://openalex.org/W1993300073","https://openalex.org/W2060119452","https://openalex.org/W2111213013","https://openalex.org/W2115970520","https://openalex.org/W2133361850","https://openalex.org/W2137922094","https://openalex.org/W2144026911","https://openalex.org/W2157643631","https://openalex.org/W2161095658","https://openalex.org/W2171575945","https://openalex.org/W2179186822","https://openalex.org/W3020927785","https://openalex.org/W3141151088","https://openalex.org/W4232097448","https://openalex.org/W4254566809","https://openalex.org/W4292408540"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W2127776540","https://openalex.org/W2365582959","https://openalex.org/W2416484876","https://openalex.org/W2799588385","https://openalex.org/W2359251603","https://openalex.org/W1983677587","https://openalex.org/W2341482816","https://openalex.org/W2163780576","https://openalex.org/W1555641514"],"abstract_inverted_index":{"In":[0],"this":[1,94],"paper":[2],"we":[3],"generate":[4,76],"gaits":[5,77,113],"for":[6,78],"dynamics":[7],"systems":[8,17,29,79],"that":[9,57,62,114,120],"are":[10,18],"subject":[11],"to":[12,20,75,85,107,117],"non-holonomic":[13,23,35,90],"velocity":[14],"constraints.":[15],"These":[16],"referred":[19],"as":[21],"mixed":[22,89],"systems.":[24,91],"The":[25],"motion":[26,124],"of":[27,44,50,88,112],"such":[28,119],"is":[30],"governed":[31],"by":[32,95],"both":[33,59],"the":[34,39,48,66,81,86,110],"constraints":[36,67],"acting":[37],"on":[38],"system":[40,43],"and":[41,68],"a":[42,55,97,121],"differential":[45],"equations":[46],"constraining":[47],"evolution":[49],"generalized":[51],"momentum.":[52],"We":[53,92],"propose":[54],"method":[56],"utilizes":[58],"governing":[60],"motions,":[61],"is,":[63],"satisfying":[64],"all":[65],"instantaneously":[69],"conserving":[70],"momentum":[71,100,104,116],"along":[72],"un-restricted":[73],"directions,":[74],"like":[80],"snakeboard,":[82],"which":[83],"belongs":[84],"family":[87],"accomplish":[93],"defining":[96],"new":[98],"scaled":[99,103],"variable.":[101],"This":[102],"allows":[105],"us":[106],"easily":[108],"explore":[109],"design":[111],"causes":[115],"evolve":[118],"desired":[122],"non-trivial":[123],"results":[125]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}