{"id":"https://openalex.org/W2056753507","doi":"https://doi.org/10.1177/0278364912442430","title":"Sliding manipulation of rigid bodies on a controlled 6-DoF plate","display_name":"Sliding manipulation of rigid bodies on a controlled 6-DoF plate","publication_year":2012,"publication_date":"2012-05-08","ids":{"openalex":"https://openalex.org/W2056753507","doi":"https://doi.org/10.1177/0278364912442430","mag":"2056753507"},"language":"en","primary_location":{"id":"doi:10.1177/0278364912442430","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364912442430","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/A5011062910","display_name":"Thomas H. Vose","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Thomas H Vose","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063801524","display_name":"Paul B. Umbanhowar","orcid":"https://orcid.org/0000-0001-6921-7476"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Umbanhowar","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101845066","display_name":"Kevin Lynch","orcid":"https://orcid.org/0000-0003-3833-6004"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin M Lynch","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","Northwestern Institute on Complex Systems, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Northwestern Institute on Complex Systems, Evanston, IL, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011062910"],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":3.9773,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.9360563,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"31","issue":"7","first_page":"819","last_page":"838"},"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":0.9997000098228455,"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":0.9997000098228455,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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":0.9970999956130981,"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/vector-field","display_name":"Vector field","score":0.6108060479164124},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.5996955633163452},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5438878536224365},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.49452826380729675},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4922749102115631},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4900883436203003},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4685058891773224},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4330846965312958},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.42901068925857544},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.40880218148231506},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.4016708731651306},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36857813596725464},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36490485072135925},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2712820768356323},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.2556159198284149},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.20931735634803772}],"concepts":[{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.6108060479164124},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.5996955633163452},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5438878536224365},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.49452826380729675},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4922749102115631},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4900883436203003},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4685058891773224},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4330846965312958},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.42901068925857544},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.40880218148231506},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4016708731651306},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36857813596725464},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36490485072135925},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2712820768356323},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.2556159198284149},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.20931735634803772},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364912442430","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364912442430","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.220.7281","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.220.7281","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.roboticsproceedings.org/rss07/p43.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W56437658","https://openalex.org/W568672181","https://openalex.org/W1488638660","https://openalex.org/W1514487078","https://openalex.org/W1762028192","https://openalex.org/W1874982062","https://openalex.org/W1978356918","https://openalex.org/W1981903075","https://openalex.org/W1993062814","https://openalex.org/W2029342956","https://openalex.org/W2048484394","https://openalex.org/W2049411421","https://openalex.org/W2051057379","https://openalex.org/W2081591345","https://openalex.org/W2082005816","https://openalex.org/W2097564843","https://openalex.org/W2104556458","https://openalex.org/W2105758011","https://openalex.org/W2111469618","https://openalex.org/W2113288755","https://openalex.org/W2114111057","https://openalex.org/W2119203026","https://openalex.org/W2120029002","https://openalex.org/W2125259391","https://openalex.org/W2125287741","https://openalex.org/W2134742594","https://openalex.org/W2157154529","https://openalex.org/W2161150788","https://openalex.org/W2163862895","https://openalex.org/W2164368032","https://openalex.org/W2168279172","https://openalex.org/W4210700398","https://openalex.org/W4248227681"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"We":[0],"model":[1],"the":[2,22,28,63,69,72,82,86,92,95,108,113,135],"full":[3],"dynamics":[4,30],"of":[5,62,77,85,105,116],"a":[6,15,35,117],"rigid":[7,17,118],"part":[8,46,119,143,167],"in":[9,48,56,91,171],"three-point":[10],"frictional":[11],"sliding":[12],"contact":[13,79],"with":[14,120],"flat":[16],"six-degree-of-freedom":[18],"(6-DoF)":[19],"plate.":[20],"When":[21],"plate":[23,141,148],"moves":[24],"periodically,":[25],"we":[26,123],"show":[27],"part\u2019s":[29,96],"are":[31,103,128,169],"well":[32,132],"approximated":[33],"by":[34,39],"first-order":[36],"system":[37],"represented":[38],"an":[40],"asymptotic":[41,64,126,152],"velocity":[42,65,89,98,153],"field":[43,66,93],"that":[44,125,150],"maps":[45],"configurations":[47],"SE(2)":[49],"to":[50,137,146,155],"unique":[51,130],"velocities":[52,127],"(linear":[53],"and":[54,74,81,102,131,173],"angular)":[55],"\u211d":[57],"2":[58],".":[59],"The":[60],"form":[61],"depends":[67],"on":[68],"plate\u2019s":[70],"motion,":[71],"location":[73],"friction":[75],"coefficient":[76],"each":[78,100],"point,":[80],"inertial":[83],"properties":[84],"part.":[87],"Asymptotic":[88],"vectors":[90],"approximate":[94],"cycle-averaged":[97],"at":[99],"configuration":[101],"independent":[104],"time":[106],"or":[107],"system\u2019s":[109],"initial":[110],"state.":[111],"For":[112],"special":[114],"case":[115],"infinitesimal":[121],"thickness,":[122],"prove":[124],"always":[129],"defined.":[133],"With":[134],"ability":[136],"program":[138],"arbitrary":[139],"periodic":[140],"motions,":[142],"manipulation":[144,163],"reduces":[145],"finding":[147],"motions":[149],"generate":[151],"fields":[154,160],"accomplish":[156],"desired":[157],"tasks.":[158],"Several":[159],"useful":[161],"for":[162],"tasks":[164],"(e.g.":[165],"sensorless":[166],"alignment)":[168],"verified":[170],"simulation":[172],"experiment.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
