{"id":"https://openalex.org/W3081382119","doi":"https://doi.org/10.1109/tro.2021.3064871","title":"Experimental Verification of Stability Theory for a Planar Rigid Body With Two Unilateral Frictional Contacts","display_name":"Experimental Verification of Stability Theory for a Planar Rigid Body With Two Unilateral Frictional Contacts","publication_year":2021,"publication_date":"2021-04-28","ids":{"openalex":"https://openalex.org/W3081382119","doi":"https://doi.org/10.1109/tro.2021.3064871","mag":"3081382119"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3064871","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3064871","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2008.10323","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068527808","display_name":"Yizhar Or","orcid":"https://orcid.org/0000-0002-9091-9357"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Yizhar Or","raw_affiliation_strings":["Faculty of Mechanical Engineering, Technion - Israel Institute of Technology, Haifa, Israel","Faculty of Mechanical Engineering Technion - Israel Institute of Technology Haifa, Israel"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Technion - Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering Technion - Israel Institute of Technology Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016659631","display_name":"P\u00e9ter L. V\u00e1rkonyi","orcid":"https://orcid.org/0000-0002-2220-0295"},"institutions":[{"id":"https://openalex.org/I29770179","display_name":"Budapest University of Technology and Economics","ror":"https://ror.org/02w42ss30","country_code":"HU","type":"education","lineage":["https://openalex.org/I29770179"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Peter L. Varkonyi","raw_affiliation_strings":["Department of Mechanics Materials, and Structures, Budapest University of Technology, and Economics, Budapest, Hungary","Department of Mechanics, Materials, and Structures, Budapest University of Technology and Economics, Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Department of Mechanics Materials, and Structures, Budapest University of Technology, and Economics, Budapest, Hungary","institution_ids":["https://openalex.org/I29770179"]},{"raw_affiliation_string":"Department of Mechanics, Materials, and Structures, Budapest University of Technology and Economics, Budapest, Hungary","institution_ids":["https://openalex.org/I29770179"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5068527808"],"corresponding_institution_ids":["https://openalex.org/I174306211"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00448657,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"37","issue":"5","first_page":"1634","last_page":"1648"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9950000047683716,"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/T12435","display_name":"Bladed Disk Vibration Dynamics","score":0.9854000210762024,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/stability","display_name":"Stability (learning theory)","score":0.6643514633178711},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.6414300203323364},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.6189356446266174},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6167377233505249},{"id":"https://openalex.org/keywords/instability","display_name":"Instability","score":0.616301417350769},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.542062520980835},{"id":"https://openalex.org/keywords/equilibrium-point","display_name":"Equilibrium point","score":0.5400290489196777},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.5244922041893005},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.50079345703125},{"id":"https://openalex.org/keywords/coulomb","display_name":"Coulomb","score":0.4807314872741699},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.4656100571155548},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.4628858268260956},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4500218331813812},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.4391346871852875},{"id":"https://openalex.org/keywords/inelastic-collision","display_name":"Inelastic collision","score":0.4358597993850708},{"id":"https://openalex.org/keywords/coulomb-friction","display_name":"Coulomb friction","score":0.41927963495254517},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2768256962299347},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2557295560836792}],"concepts":[{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6643514633178711},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.6414300203323364},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.6189356446266174},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6167377233505249},{"id":"https://openalex.org/C207821765","wikidata":"https://www.wikidata.org/wiki/Q405372","display_name":"Instability","level":2,"score":0.616301417350769},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.542062520980835},{"id":"https://openalex.org/C94766913","wikidata":"https://www.wikidata.org/wiki/Q1530271","display_name":"Equilibrium point","level":3,"score":0.5400290489196777},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.5244922041893005},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.50079345703125},{"id":"https://openalex.org/C9342510","wikidata":"https://www.wikidata.org/wiki/Q25406","display_name":"Coulomb","level":3,"score":0.4807314872741699},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.4656100571155548},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.4628858268260956},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4500218331813812},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4391346871852875},{"id":"https://openalex.org/C186647298","wikidata":"https://www.wikidata.org/wiki/Q2074917","display_name":"Inelastic collision","level":3,"score":0.4358597993850708},{"id":"https://openalex.org/C2986328948","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Coulomb friction","level":3,"score":0.41927963495254517},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2768256962299347},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2557295560836792},{"id":"https://openalex.org/C147120987","wikidata":"https://www.wikidata.org/wiki/Q2225","display_name":"Electron","level":2,"score":0.0},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"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":4,"locations":[{"id":"doi:10.1109/tro.2021.3064871","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3064871","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:arXiv.org:2008.10323","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.10323","pdf_url":"https://arxiv.org/pdf/2008.10323","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"mag:3081382119","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2008.10323","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2008.10323","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2008.10323","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2008.10323","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.10323","pdf_url":"https://arxiv.org/pdf/2008.10323","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W205868444","https://openalex.org/W1963123337","https://openalex.org/W1965961478","https://openalex.org/W1968100378","https://openalex.org/W1974314122","https://openalex.org/W1993229498","https://openalex.org/W1995977818","https://openalex.org/W1997148003","https://openalex.org/W2001760752","https://openalex.org/W2008902109","https://openalex.org/W2020977579","https://openalex.org/W2029294123","https://openalex.org/W2036805518","https://openalex.org/W2051890856","https://openalex.org/W2085897137","https://openalex.org/W2088983946","https://openalex.org/W2099308299","https://openalex.org/W2105763741","https://openalex.org/W2105793964","https://openalex.org/W2110379023","https://openalex.org/W2111788778","https://openalex.org/W2120666720","https://openalex.org/W2120719361","https://openalex.org/W2124889948","https://openalex.org/W2131307165","https://openalex.org/W2146227737","https://openalex.org/W2159324075","https://openalex.org/W2240883112","https://openalex.org/W2241122444","https://openalex.org/W2401840706","https://openalex.org/W2606988354","https://openalex.org/W2763488094","https://openalex.org/W2963527178","https://openalex.org/W2964153186","https://openalex.org/W2991444236","https://openalex.org/W2993602302","https://openalex.org/W3005129064","https://openalex.org/W3104303013","https://openalex.org/W4206179747","https://openalex.org/W6642112684"],"related_works":["https://openalex.org/W2151738341","https://openalex.org/W2019510436","https://openalex.org/W1610809877","https://openalex.org/W2985036276","https://openalex.org/W2918011668","https://openalex.org/W2071224001","https://openalex.org/W2105477222","https://openalex.org/W3022667202","https://openalex.org/W2089711174","https://openalex.org/W2981614542","https://openalex.org/W1521032143","https://openalex.org/W2494398833","https://openalex.org/W2579776043","https://openalex.org/W316249591","https://openalex.org/W2241063477","https://openalex.org/W3032811174","https://openalex.org/W281886804","https://openalex.org/W1553336997","https://openalex.org/W3107031569","https://openalex.org/W2081476080"],"abstract_inverted_index":{"Stability":[0],"of":[1,37,57,76,118,125,140,159],"equilibrium":[2,59,101],"states":[3],"in":[4],"mechanical":[5],"systems":[6],"with":[7,17,41,85,115],"multiple":[8],"unilateral":[9],"frictional":[10,43,86],"contacts":[11],"is":[12,136],"an":[13,58,73,89],"important":[14],"practical":[15,157],"requirement,":[16],"high":[18],"relevance":[19],"for":[20,33,53,69],"robotic":[21],"applications.":[22],"In":[23,64],"our":[24,160],"previous":[25],"article,":[26,66],"we":[27,67,98],"theoretically":[28],"analyzed":[29],"finite-time":[30],"Lyapunov":[31],"stability":[32,54,78,120,161],"a":[34,81],"minimal":[35],"model":[36,143],"planar":[38],"rigid":[39,83],"body":[40],"two":[42],"point":[44],"contacts.":[45],"Assuming":[46],"inelastic":[47,145],"impacts":[48],"and":[49,55,133,138,144,156],"Coulomb":[50],"friction,":[51],"conditions":[52],"instability":[56],"configuration":[60],"have":[61],"been":[62],"derived.":[63],"this":[65,77],"present":[68],"the":[70,94,116,119,141,154],"first":[71],"time":[72],"experimental":[74],"demonstration":[75],"theory,":[79],"using":[80],"variable-structure":[82],"\u201cbiped\u201d":[84],"footpads":[87],"on":[88],"inclined":[90],"plane.":[91],"By":[92],"changing":[93],"biped's":[95],"center-of-mass":[96],"location,":[97],"attain":[99],"different":[100],"states,":[102],"which":[103],"respond":[104],"to":[105],"small":[106],"perturbations":[107],"by":[108],"divergence":[109],"or":[110],"convergence,":[111],"showing":[112],"remarkable":[113],"agreement":[114,130],"predictions":[117],"theory.":[121,162],"Using":[122],"high-speed":[123],"recording":[124],"video":[126],"movies,":[127],"good":[128],"quantitative":[129],"between":[131],"experiments":[132],"numerical":[134],"simulations":[135],"obtained,":[137],"limitations":[139],"rigid-body":[142],"impact":[146],"assumptions":[147],"are":[148],"also":[149],"studied.":[150],"The":[151],"results":[152],"prove":[153],"utility":[155],"value":[158]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}