{"id":"https://openalex.org/W1973390261","doi":"https://doi.org/10.1109/tro.2012.2215135","title":"Differentially Flat Design of a Closed-Chain Planar Underactuated $\\hbox{2}$ -DOF System","display_name":"Differentially Flat Design of a Closed-Chain Planar Underactuated $\\hbox{2}$ -DOF System","publication_year":2012,"publication_date":"2012-09-12","ids":{"openalex":"https://openalex.org/W1973390261","doi":"https://doi.org/10.1109/tro.2012.2215135","mag":"1973390261"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2012.2215135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2215135","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5015457299","display_name":"Chengkun Zhang","orcid":"https://orcid.org/0000-0002-3188-6583"},"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":true,"raw_author_name":"Chengkun Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020730717","display_name":"Jaume Franch","orcid":null},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jaume Franch","raw_affiliation_strings":["TheDepartment of Applied Mathematics, University Politecnica de Catalunya, Barcelona, Spain","Dept. of Appl. Math., Univ. Politec. de Catalunya, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"TheDepartment of Applied Mathematics, University Politecnica de Catalunya, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]},{"raw_affiliation_string":"Dept. of Appl. Math., Univ. Politec. de Catalunya, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"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","Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5015457299"],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":1.1363,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.80970013,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"29","issue":"1","first_page":"277","last_page":"282"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","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/T11394","display_name":"Dynamics and Control of Mechanical Systems","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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9980999827384949,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9952999949455261,"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/underactuation","display_name":"Underactuation","score":0.9175828695297241},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6211354732513428},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5130451917648315},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44102874398231506},{"id":"https://openalex.org/keywords/chain","display_name":"Chain (unit)","score":0.4193592965602875},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3701753616333008},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.351692795753479},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2474653124809265},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2400645613670349},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.21774056553840637},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15509134531021118},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07826614379882812}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9175828695297241},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6211354732513428},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5130451917648315},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44102874398231506},{"id":"https://openalex.org/C199185054","wikidata":"https://www.wikidata.org/wiki/Q552299","display_name":"Chain (unit)","level":2,"score":0.4193592965602875},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3701753616333008},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.351692795753479},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2474653124809265},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2400645613670349},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.21774056553840637},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15509134531021118},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07826614379882812},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2012.2215135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2215135","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:repository.hanyang.ac.kr:20.500.11754/91315","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/6301743/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401328","display_name":"The Royal Society of Chemistry\u2019s Journals, Books and Databases (The Royal Society of Chemistry)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2751430930","host_organization_name":"Royal Society of Chemistry","host_organization_lineage":["https://openalex.org/I2751430930"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1514264391","https://openalex.org/W1943051894","https://openalex.org/W1964373008","https://openalex.org/W2037201547","https://openalex.org/W2059234421","https://openalex.org/W2067473395","https://openalex.org/W2076650116","https://openalex.org/W2078038590","https://openalex.org/W2086790315","https://openalex.org/W2113306896","https://openalex.org/W2119539370","https://openalex.org/W2119955255","https://openalex.org/W2135817072","https://openalex.org/W2147245217","https://openalex.org/W2163426622","https://openalex.org/W4292872153"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2758944028","https://openalex.org/W2812482866"],"abstract_inverted_index":{"This":[0,32],"paper":[1,33],"demonstrates":[2],"that":[3],"for":[4],"certain":[5],"choices":[6],"of":[7,12],"mass":[8],"distribution":[9],"and":[10,36],"addition":[11],"springs,":[13],"an":[14],"underactuated":[15,43],"two-degree-of-freedom":[16],"(2-DOF)":[17],"\\bm":[18],"<i":[19],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[20],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">PRRRP</i>":[21],"system":[22],"is":[23,34],"static":[24],"feedback":[25],"linearizable,":[26],"i.e.,":[27],"differentially":[28],"flat":[29],"as":[30],"well.":[31],"original":[35],"provides":[37],"a":[38],"ground":[39],"breaking":[40],"study":[41],"in":[42],"dynamical":[44],"systems.":[45]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2016-06-24T00:00:00"}
