{"id":"https://openalex.org/W2151074277","doi":"https://doi.org/10.1109/robot.2009.5152249","title":"A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning","display_name":"A coordinate-free approach to instantaneous kinematics of two rigid objects with rolling contact and its implications for trajectory planning","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2151074277","doi":"https://doi.org/10.1109/robot.2009.5152249","mag":"2151074277"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://espace.curtin.edu.au/bitstream/20.500.11937/21732/2/193071_A%20193071.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083041482","display_name":"Lei Cui","orcid":"https://orcid.org/0000-0003-2283-5079"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Lei Cui","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5040440410","display_name":"Jian S. Dai","orcid":"https://orcid.org/0000-0002-9729-1662"},"institutions":[{"id":"https://openalex.org/I4403386650","display_name":"Centre de Robotique","ror":"https://ror.org/0180r7w69","country_code":null,"type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4403386650","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.S. Dai","raw_affiliation_strings":["Centre for Robotics Research"],"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I4403386650"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5083041482"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7698,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.78937624,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"612","last_page":"617"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9991000294685364,"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/kinematics","display_name":"Kinematics","score":0.8210397958755493},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7544779777526855},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.6234850287437439},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.5781981945037842},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5631651878356934},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.49387842416763306},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.44926828145980835},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.422904908657074},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37707170844078064},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.32956719398498535},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29673486948013306},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.26173871755599976}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8210397958755493},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7544779777526855},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.6234850287437439},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.5781981945037842},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5631651878356934},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.49387842416763306},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.44926828145980835},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.422904908657074},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37707170844078064},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.32956719398498535},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29673486948013306},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26173871755599976},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2009.5152249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:espace.curtin.edu.au:20.500.11937/21732","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11937/21732","pdf_url":"https://espace.curtin.edu.au/bitstream/20.500.11937/21732/2/193071_A%20193071.pdf","source":{"id":"https://openalex.org/S4306401790","display_name":"eSpace (Curtin University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205640436","host_organization_name":"Curtin University","host_organization_lineage":["https://openalex.org/I205640436"],"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":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:espace.curtin.edu.au:20.500.11937/21732","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11937/21732","pdf_url":"https://espace.curtin.edu.au/bitstream/20.500.11937/21732/2/193071_A%20193071.pdf","source":{"id":"https://openalex.org/S4306401790","display_name":"eSpace (Curtin University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205640436","host_organization_name":"Curtin University","host_organization_lineage":["https://openalex.org/I205640436"],"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":"Conference Paper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2151074277.pdf","grobid_xml":"https://content.openalex.org/works/W2151074277.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W225012726","https://openalex.org/W1516079644","https://openalex.org/W1565212980","https://openalex.org/W1970457658","https://openalex.org/W1998439873","https://openalex.org/W2017444601","https://openalex.org/W2030076479","https://openalex.org/W2033535982","https://openalex.org/W2033781490","https://openalex.org/W2043464445","https://openalex.org/W2055302917","https://openalex.org/W2081684462","https://openalex.org/W2083391079","https://openalex.org/W2101196304","https://openalex.org/W2101885191","https://openalex.org/W2106281046","https://openalex.org/W2109646892","https://openalex.org/W2115659120","https://openalex.org/W2117569989","https://openalex.org/W2126952943","https://openalex.org/W2138369007","https://openalex.org/W2147632560","https://openalex.org/W2148611783","https://openalex.org/W2150316725","https://openalex.org/W2486335610","https://openalex.org/W2569769452","https://openalex.org/W4238544107","https://openalex.org/W6661396022"],"related_works":["https://openalex.org/W2510951092","https://openalex.org/W4285301083","https://openalex.org/W1997877467","https://openalex.org/W2084098757","https://openalex.org/W2116347529","https://openalex.org/W2379057576","https://openalex.org/W631266968","https://openalex.org/W1998511116","https://openalex.org/W3020342260","https://openalex.org/W2051389035"],"abstract_inverted_index":{"This":[0,48],"paper":[1],"adopts":[2],"a":[3],"coordinate-free":[4],"approach":[5],"to":[6,43,55],"investigate":[7],"the":[8,23,31,44,71,77],"kinematics":[9],"of":[10,19,22,30,33,39,73],"rigid":[11],"bodies":[12],"with":[13],"rolling":[14,34,74],"contact.":[15],"A":[16],"new":[17,49],"equation":[18,69],"angular":[20],"velocity":[21,35],"moving":[24],"body":[25],"is":[26],"derived":[27],"in":[28],"terms":[29],"magnitude":[32],"and":[36,76],"two":[37],"sets":[38],"geometric":[40],"invariants":[41],"belonging":[42],"respective":[45],"contact":[46],"curves.":[47],"formulation":[50],"can":[51,64],"be":[52,65],"differentiated":[53],"up":[54],"any":[56],"order.":[57],"Furthermore,":[58],"qualitative":[59],"information":[60],"about":[61],"trajectory":[62],"planning":[63],"deduced":[66],"from":[67],"this":[68],"if":[70],"characteristics":[72],"objects":[75],"motion":[78],"are":[79],"taken":[80],"into":[81],"consideration.":[82]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
