{"id":"https://openalex.org/W1989820573","doi":"https://doi.org/10.1109/robot.2010.5509208","title":"Differentially flat mobile manipulators mounted with an under-actuated vertical arm","display_name":"Differentially flat mobile manipulators mounted with an under-actuated vertical arm","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W1989820573","doi":"https://doi.org/10.1109/robot.2010.5509208","mag":"1989820573"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509208","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509208","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","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/A5042558629","display_name":"Ji-Chul Ryu","orcid":"https://orcid.org/0000-0002-9499-2068"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ji-Chul Ryu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","Department of Mechanical Engineering, University of Delaware, Newark, 19716, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, 19716, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066608996","display_name":"Sunil K. Agrawal","orcid":"https://orcid.org/0000-0002-4008-1437"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sunil K Agrawal","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","Department of Mechanical Engineering, University of Delaware, Newark, 19716, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, 19716, USA","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.11185837,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"5201","last_page":"5206"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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":0.9973999857902527,"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/mobile-manipulator","display_name":"Mobile manipulator","score":0.7663682699203491},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6761320233345032},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5290913581848145},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.5093609094619751},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5089249610900879},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.499556303024292},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4649345576763153},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.45098575949668884},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4307257831096649},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3900512456893921},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3002891540527344},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2802591919898987},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12648048996925354},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10731363296508789},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08799245953559875}],"concepts":[{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.7663682699203491},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6761320233345032},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5290913581848145},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.5093609094619751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5089249610900879},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.499556303024292},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4649345576763153},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.45098575949668884},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4307257831096649},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3900512456893921},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3002891540527344},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2802591919898987},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12648048996925354},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10731363296508789},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08799245953559875},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509208","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509208","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W1984363493","https://openalex.org/W1984387834","https://openalex.org/W2031702298","https://openalex.org/W2059234421","https://openalex.org/W2065297540","https://openalex.org/W2076964339","https://openalex.org/W2111408367","https://openalex.org/W6676677424"],"related_works":["https://openalex.org/W71119328","https://openalex.org/W4249701897","https://openalex.org/W2147558862","https://openalex.org/W2044054821","https://openalex.org/W2165308390","https://openalex.org/W1515399142","https://openalex.org/W2376571261","https://openalex.org/W2351261275","https://openalex.org/W2155201064","https://openalex.org/W145109879"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"how":[3],"mobile":[4,51,60,101,123,137],"manipulators":[5,52,61],"with":[6,62],"an":[7,118,127],"under-actuated":[8,50,128],"vertical":[9,31,129],"arm":[10,32,66,92,131],"can":[11],"be":[12,15],"designed":[13],"to":[14,109],"differentially":[16,135],"flat.":[17],"The":[18],"property":[19],"of":[20,29,37,44,55,90,99,121,126],"differential":[21,140],"flatness":[22,47],"is":[23,84],"achieved":[24],"by":[25],"appropriate":[26],"inertia":[27],"redistribution":[28],"the":[30,46,49,71,88,91,100,105],"and":[33,74,93,111,132],"a":[34,42,63,122,133],"wide":[35],"range":[36],"under-actuation":[38,89],"becomes":[39],"possible.":[40],"As":[41],"result":[43],"having":[45],"property,":[48],"are":[53,115],"capable":[54],"executing":[56],"point-to-point":[57,79],"maneuvers":[58],"as":[59],"fully":[64],"actuated":[65],"would":[67],"do.":[68],"In":[69],"addition,":[70],"trajectory":[72],"planning":[73],"feedback":[75],"controller":[76],"design":[77],"for":[78],"motions":[80],"in":[81],"state":[82],"space":[83],"considerably":[85],"simplified":[86],"despite":[87],"nonholonomic":[94],"constraints":[95],"(from":[96],"no-slip":[97],"assumption)":[98],"base,":[102],"which":[103],"make":[104],"system":[106],"more":[107],"difficult":[108],"plan":[110],"control.":[112],"These":[113],"ideas":[114],"demonstrated":[116],"through":[117],"illustrative":[119],"example":[120],"manipulator":[124],"consisting":[125],"three-link":[130],"two-wheeled":[134],"driven":[136],"base":[138],"using":[139],"flatness.":[141]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}