{"id":"https://openalex.org/W2169570177","doi":"https://doi.org/10.1177/027836490001900601","title":"A Catastrophe Theory Model of Planar Orientation","display_name":"A Catastrophe Theory Model of Planar Orientation","publication_year":2000,"publication_date":"2000-06-01","ids":{"openalex":"https://openalex.org/W2169570177","doi":"https://doi.org/10.1177/027836490001900601","mag":"2169570177"},"language":"en","primary_location":{"id":"doi:10.1177/027836490001900601","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836490001900601","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5109334661","display_name":"Mark Wright","orcid":"https://orcid.org/0000-0002-2650-2426"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Mark W. Wright","raw_affiliation_strings":["Edinburgh Virtual Environment Centre, King's Buildings, University of Edinburgh, Edinburgh, Midlothian EH9 3JZ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edinburgh Virtual Environment Centre, King's Buildings, University of Edinburgh, Edinburgh, Midlothian EH9 3JZ, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032472582","display_name":"Graham Deacon","orcid":null},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Graham E. Deacon","raw_affiliation_strings":["Mechatronic Systems and Robotics Research Group, School of Mechanical and Materials Engineering, University of Surrey, Guildford, Surrey, GU2 5XH, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronic Systems and Robotics Research Group, School of Mechanical and Materials Engineering, University of Surrey, Guildford, Surrey, GU2 5XH, UK","institution_ids":["https://openalex.org/I28290843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5109334661"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":3.9893,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.93256248,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"19","issue":"6","first_page":"531","last_page":"565"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9962999820709229,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9962999820709229,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9929999709129333,"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/catastrophe-theory","display_name":"Catastrophe theory","score":0.9166449308395386},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6769426465034485},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.5892395377159119},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.557678759098053},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.5446982979774475},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4682641625404358},{"id":"https://openalex.org/keywords/interpretation","display_name":"Interpretation (philosophy)","score":0.4279364049434662},{"id":"https://openalex.org/keywords/discriminant","display_name":"Discriminant","score":0.4225625991821289},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3992771804332733},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3831642270088196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37658441066741943},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36024418473243713},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.32360154390335083},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1773950457572937},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16636210680007935},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.14207664132118225}],"concepts":[{"id":"https://openalex.org/C33474566","wikidata":"https://www.wikidata.org/wiki/Q1345659","display_name":"Catastrophe theory","level":2,"score":0.9166449308395386},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6769426465034485},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.5892395377159119},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.557678759098053},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.5446982979774475},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4682641625404358},{"id":"https://openalex.org/C527412718","wikidata":"https://www.wikidata.org/wiki/Q855395","display_name":"Interpretation (philosophy)","level":2,"score":0.4279364049434662},{"id":"https://openalex.org/C78397625","wikidata":"https://www.wikidata.org/wiki/Q192487","display_name":"Discriminant","level":2,"score":0.4225625991821289},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3992771804332733},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3831642270088196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37658441066741943},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36024418473243713},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.32360154390335083},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1773950457572937},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16636210680007935},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.14207664132118225},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836490001900601","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836490001900601","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W121820301","https://openalex.org/W194536078","https://openalex.org/W373813039","https://openalex.org/W628477427","https://openalex.org/W1482261643","https://openalex.org/W1530159107","https://openalex.org/W1532551972","https://openalex.org/W1565212980","https://openalex.org/W1580730120","https://openalex.org/W1781253210","https://openalex.org/W1803745806","https://openalex.org/W1878249389","https://openalex.org/W1907649404","https://openalex.org/W1953735010","https://openalex.org/W1966211559","https://openalex.org/W1980804624","https://openalex.org/W1997777356","https://openalex.org/W2026267436","https://openalex.org/W2029342956","https://openalex.org/W2032606934","https://openalex.org/W2050708324","https://openalex.org/W2060506423","https://openalex.org/W2062264317","https://openalex.org/W2076686557","https://openalex.org/W2090359786","https://openalex.org/W2098030884","https://openalex.org/W2099864560","https://openalex.org/W2105353029","https://openalex.org/W2106723696","https://openalex.org/W2106853220","https://openalex.org/W2118884824","https://openalex.org/W2130527101","https://openalex.org/W2131158205","https://openalex.org/W2134072104","https://openalex.org/W2137670475","https://openalex.org/W2143123448","https://openalex.org/W2146897746","https://openalex.org/W2149175962","https://openalex.org/W2149505180","https://openalex.org/W2151096966","https://openalex.org/W2151412994","https://openalex.org/W2172082560","https://openalex.org/W2177602934","https://openalex.org/W2521881842","https://openalex.org/W2753006352","https://openalex.org/W3174974282","https://openalex.org/W4246743304","https://openalex.org/W4253178695","https://openalex.org/W6602803958","https://openalex.org/W6628853816","https://openalex.org/W6629435415","https://openalex.org/W6630538489","https://openalex.org/W6635883563","https://openalex.org/W6645630005","https://openalex.org/W6743904527","https://openalex.org/W7081438724"],"related_works":["https://openalex.org/W2364546904","https://openalex.org/W2366891651","https://openalex.org/W21615119","https://openalex.org/W2047002578","https://openalex.org/W2165278229","https://openalex.org/W4293251309","https://openalex.org/W2036640919","https://openalex.org/W4317464963","https://openalex.org/W3102760219","https://openalex.org/W2022959950"],"abstract_inverted_index":{"The":[0,17,73],"manipulation":[1],"of":[2,9,20,70,89,129,133,138],"planar":[3,79,134],"objects":[4],"using":[5,27],"linear":[6],"fences":[7],"is":[8,76,92,140],"interest":[10],"in":[11,102,122],"robotics":[12],"and":[13,145],"parts":[14],"feeding":[15],"applications.":[16],"global":[18,103],"behavior":[19,104],"such":[21,143],"systems":[22,144],"can":[23],"be":[24],"characterized":[25],"graphically":[26],"Brost's":[28],"push":[29],"stability":[30],"diagram":[31],"(PSD).":[32],"Previously,":[33],"we":[34,56],"have":[35],"shown":[36],"specifically":[37],"under":[38,86],"what":[39],"conditions":[40],"this":[41,54],"representation":[42],"undergoes":[43],"qualitative,":[44],"topological":[45],"transitions":[46],"corresponding":[47],"to":[48,95,119,141],"globally":[49],"distinct":[50],"behavioral":[51],"regimes.":[52],"In":[53],"paper,":[55],"show":[57],"that":[58,77],"these":[59],"insights":[60],"form":[61],"a":[62,78,84,96,115,130],"united":[63],"Whole":[64],"when":[65],"viewed":[66],"from":[67],"the":[68,87,136],"perspective":[69],"catastrophe":[71,98],"theory.":[72],"key":[74],"result":[75],"object":[80],"being":[81],"pushed":[82],"by":[83],"fence":[85],"assumption":[88],"Coulomb":[90],"friction":[91],"functionally":[93],"equivalent":[94],"gravitational":[97],"mnachine.":[99],"Qualitative":[100],"changes":[101,121],"are":[105,112],"thus":[106,126],"explained":[107],"as":[108,110],"catastrophes":[109],"singularities":[111],"encountered":[113],"on":[114],"discriminant":[116],"surface":[117],"due":[118],"smooth":[120],"parameters.":[123],"Catastrophe":[124],"theory":[125,132],"forms":[127],"part":[128],"computational":[131],"orientation,":[135],"aim":[137],"which":[139],"understand":[142],"make":[146],"predictions":[147],"about":[148],"their":[149],"behavior.":[150]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}