{"id":"https://openalex.org/W1982928172","doi":"https://doi.org/10.1177/0278364907082098","title":"Towards a Unified Approach to Motion Planning for Dynamic Underactuated Mechanical Systems with Non-holonomic Constraints","display_name":"Towards a Unified Approach to Motion Planning for Dynamic Underactuated Mechanical Systems with Non-holonomic Constraints","publication_year":2007,"publication_date":"2007-09-25","ids":{"openalex":"https://openalex.org/W1982928172","doi":"https://doi.org/10.1177/0278364907082098","mag":"1982928172"},"language":"en","primary_location":{"id":"doi:10.1177/0278364907082098","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907082098","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/A5049264238","display_name":"Elie Shammas","orcid":"https://orcid.org/0000-0002-3604-334X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elie A. Shammas","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University 5000 Forbes Avenue, Pittsburgh, PA 15213, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University 5000 Forbes Avenue, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Howie Choset","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University 5000 Forbes Avenue, Pittsburgh, PA 15213, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University 5000 Forbes Avenue, Pittsburgh, PA 15213, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111915942","display_name":"Alfred A. Rizzi","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alfred A. Rizzi","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University 5000 Forbes Avenue, Pittsburgh, PA 15213, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University 5000 Forbes Avenue, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5048906141"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":9.5932,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.97653391,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"26","issue":"10","first_page":"1075","last_page":"1124"},"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":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.7730541229248047},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6732277274131775},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6721608638763428},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.6469134092330933},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.6036009788513184},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5587196946144104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5217248201370239},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.5178670883178711},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5064884424209595},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4808100461959839},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4601721167564392},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3526839017868042},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3069174289703369},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2618493437767029},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.21633407473564148},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14815488457679749},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10672804713249207}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7730541229248047},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6732277274131775},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6721608638763428},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.6469134092330933},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.6036009788513184},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5587196946144104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5217248201370239},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.5178670883178711},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5064884424209595},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4808100461959839},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4601721167564392},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3526839017868042},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3069174289703369},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2618493437767029},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.21633407473564148},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14815488457679749},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10672804713249207},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364907082098","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907082098","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":0.7599999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W22545347","https://openalex.org/W170126677","https://openalex.org/W774034202","https://openalex.org/W986708113","https://openalex.org/W1510199534","https://openalex.org/W1524590822","https://openalex.org/W1837437011","https://openalex.org/W1856256779","https://openalex.org/W1891021866","https://openalex.org/W1894551624","https://openalex.org/W1956275336","https://openalex.org/W1993300073","https://openalex.org/W2019575952","https://openalex.org/W2032406975","https://openalex.org/W2049254751","https://openalex.org/W2111213013","https://openalex.org/W2113057510","https://openalex.org/W2115970520","https://openalex.org/W2116445464","https://openalex.org/W2123438797","https://openalex.org/W2123789881","https://openalex.org/W2124052803","https://openalex.org/W2133361850","https://openalex.org/W2137922094","https://openalex.org/W2140632912","https://openalex.org/W2144026911","https://openalex.org/W2157118857","https://openalex.org/W2161095658","https://openalex.org/W2164406732","https://openalex.org/W2171575945","https://openalex.org/W2179186822","https://openalex.org/W2401135644","https://openalex.org/W2487739765","https://openalex.org/W2680657788","https://openalex.org/W2912484913","https://openalex.org/W3020927785","https://openalex.org/W3139610437","https://openalex.org/W3141151088","https://openalex.org/W3142707146","https://openalex.org/W4232097448","https://openalex.org/W4254566809","https://openalex.org/W4292408540"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W2127776540","https://openalex.org/W2365582959","https://openalex.org/W2416484876","https://openalex.org/W2799588385","https://openalex.org/W2359251603","https://openalex.org/W1983677587","https://openalex.org/W2341482816","https://openalex.org/W2163780576","https://openalex.org/W1555641514"],"abstract_inverted_index":{"In":[0,23,123],"this":[1,124,133,159,183],"paper,":[2,125],"we":[3,25,71,126,140,156],"generalize":[4],"our":[5,145,149],"prior":[6,169],"results":[7,172],"in":[8,95,135,158,182],"motion":[9,38,79,96,113,170],"analysis":[10,180],"to":[11,68,74,105,115,151],"design":[12],"gaits":[13,29],"for":[14,30,98],"a":[15,44,51,54,81,86,89,99,116,136],"more":[16],"general":[17,117],"family":[18],"of":[19,46,53,63,112,144],"underactuated":[20],"mechanical":[21,32,153],"systems.":[22],"particular,":[24],"analyze":[26],"and":[27,50,88,109],"generate":[28],"mixed":[31,100],"systems":[33,36,154],"which":[34,155],"are":[35,72],"whose":[37],"is":[39,102],"simultaneously":[40],"governed":[41],"by":[42,147,164],"both":[43],"set":[45],"non-holonomic":[47],"velocity":[48],"constraints":[49],"notion":[52],"generalized":[55,137],"momentum":[56],"being":[57],"instantaneously":[58],"conserved":[59],"along":[60],"allowable":[61],"directions":[62],"motion.":[64],"Through":[65],"proper":[66],"recourse":[67],"geometric":[69,87,108],"mechanics,":[70],"able":[73],"show":[75],"that":[76,166],"the":[77,107,128,142,178],"resulting":[78],"from":[80],"gait":[82,121,179],"has":[83],"two":[84],"portions:":[85],"dynamic":[90,110],"contribution.":[91],"The":[92],"main":[93],"challenge":[94,134],"planning":[97,171],"system":[101],"understanding":[103],"how":[104],"separate":[106],"contributions":[111],"due":[114],"gait,":[118],"thus":[119],"simplifying":[120],"analysis.":[122],"take":[127],"first":[129],"step":[130],"towards":[131],"addressing":[132],"framework.":[138],"Finally,":[139],"verify":[141],"generality":[143],"approach":[146],"applying":[148],"techniques":[150],"novel":[152],"introduce":[157],"paper":[160],"as":[161,163],"well":[162],"verifying":[165],"seemingly":[167],"different":[168],"could":[173],"actually":[174],"be":[175],"explained":[176],"using":[177],"presented":[181],"paper.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}