{"id":"https://openalex.org/W1581997007","doi":"https://doi.org/10.1109/robot.1992.220257","title":"Motion planning of mobile multi-limb robotic systems subject to force and friction constraints","display_name":"Motion planning of mobile multi-limb robotic systems subject to force and friction constraints","publication_year":2003,"publication_date":"2003-01-02","ids":{"openalex":"https://openalex.org/W1581997007","doi":"https://doi.org/10.1109/robot.1992.220257","mag":"1581997007"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1992.220257","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1992.220257","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-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/A5074684281","display_name":"Akhil J. Madhani","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"A. Madhani","raw_affiliation_strings":["Dept. of Mech. Eng., MIT, Cambridge, MA, USA","[Dept. of Mech. Eng., MIT, Cambridge, MA, USA]"],"affiliations":[{"raw_affiliation_string":"Dept. of Mech. Eng., MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210110987"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., MIT, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084745304","display_name":"Steven Dubowsky","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Dubowsky","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","[Dept. of Mech. Eng., MIT, Cambridge, MA, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., MIT, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I4210110987"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5074684281"],"corresponding_institution_ids":["https://openalex.org/I4210110987"],"apc_list":null,"apc_paid":null,"fwci":9.7134,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.97696108,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"233","last_page":"239"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9972000122070312,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9934999942779541,"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/workspace","display_name":"Workspace","score":0.8873005509376526},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.7749946117401123},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7359328866004944},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6122761368751526},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5589174032211304},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5556530356407166},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.5490503907203674},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5239691138267517},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5065509080886841},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.469537615776062},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44555991888046265},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43893691897392273},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.42862576246261597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3691040873527527},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23252826929092407},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15612095594406128},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14267900586128235},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14140504598617554},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1137794554233551}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8873005509376526},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7749946117401123},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7359328866004944},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6122761368751526},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5589174032211304},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5556530356407166},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.5490503907203674},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5239691138267517},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5065509080886841},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.469537615776062},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44555991888046265},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43893691897392273},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.42862576246261597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3691040873527527},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23252826929092407},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15612095594406128},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14267900586128235},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14140504598617554},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1137794554233551},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1992.220257","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1992.220257","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 1992 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W134192640","https://openalex.org/W1580141833","https://openalex.org/W1917915433","https://openalex.org/W2016132145","https://openalex.org/W2023005132","https://openalex.org/W2053482006","https://openalex.org/W2063526072","https://openalex.org/W2074429597","https://openalex.org/W2077091230","https://openalex.org/W2078038590","https://openalex.org/W2115659120","https://openalex.org/W2132114646","https://openalex.org/W2152556560","https://openalex.org/W2154631808","https://openalex.org/W2168530549","https://openalex.org/W2419281883","https://openalex.org/W2569769452","https://openalex.org/W2922084435","https://openalex.org/W3143222608","https://openalex.org/W4234057804","https://openalex.org/W4285719527","https://openalex.org/W6792255665"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W2333571655","https://openalex.org/W985713740","https://openalex.org/W3004930912","https://openalex.org/W2104320275","https://openalex.org/W2111158727","https://openalex.org/W1510039162","https://openalex.org/W30332934","https://openalex.org/W2112736381","https://openalex.org/W2106317420"],"abstract_inverted_index":{"A":[0],"method":[1,87],"is":[2,116],"presented":[3],"to":[4,16,55,94,107,117,127],"generate":[5,65,128],"motions":[6,66],"for":[7],"a":[8,60,108],"class":[9],"of":[10,24,91],"multilimb":[11],"robotic":[12],"systems":[13],"enabling":[14],"them":[15],"apply":[17],"large":[18,22],"static":[19],"forces":[20],"over":[21],"ranges":[23],"motion":[25],"without":[26,74],"saturating":[27],"actuator":[28,69],"effort":[29],"limits,":[30,36],"system-environment":[31],"friction":[32],"constraints,":[33,77],"kinematic":[34],"joint":[35],"or":[37],"geometric":[38],"workspace":[39],"obstacles.":[40,85],"The":[41,86,102],"approach,":[42,47],"termed":[43],"the":[44,52,89,92],"force-workspace":[45],"(FW)":[46],"maps":[48],"these":[49,83],"constraints":[50],"into":[51],"system":[53,76],"C-space":[54],"form":[56],"constraint":[57,84],"obstacles":[58],"using":[59,97],"recursive":[61],"subdivision":[62],"process.":[63],"To":[64],"along":[67],"which":[68],"efforts":[70],"can":[71],"be":[72,95],"specified":[73],"violating":[75],"paths":[78,93],"are":[79],"planned":[80],"that":[81],"avoid":[82],"permits":[88],"shape":[90],"controlled":[96],"any":[98],"configuration-dependent":[99],"performance":[100],"criterion.":[101],"FW":[103],"approach":[104],"was":[105],"applied":[106],"proposed":[109],"three-limb":[110],"planar":[111],"climbing":[112],"robot":[113],"whose":[114],"task":[115],"climb":[118],"upwards":[119],"between":[120],"two":[121],"vertical":[122],"walls":[123],"by":[124],"pushing":[125],"outwards":[126],"frictional":[129],"support.<":[130],"<ETX":[131],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[132],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">&gt;</ETX>":[133]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}