{"id":"https://openalex.org/W2098030884","doi":"https://doi.org/10.1177/027836499601500602","title":"Stable Pushing: Mechanics, Controllability, and Planning","display_name":"Stable Pushing: Mechanics, Controllability, and Planning","publication_year":1996,"publication_date":"1996-12-01","ids":{"openalex":"https://openalex.org/W2098030884","doi":"https://doi.org/10.1177/027836499601500602","mag":"2098030884"},"language":"en","primary_location":{"id":"doi:10.1177/027836499601500602","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499601500602","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/A5101845066","display_name":"Kevin Lynch","orcid":"https://orcid.org/0000-0003-3833-6004"},"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":"Kevin M. Lynch","raw_affiliation_strings":["The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania 15213","The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania 15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002872886","display_name":"Matthew T. Mason","orcid":"https://orcid.org/0000-0002-2672-5689"},"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":"Matthew T. Mason","raw_affiliation_strings":["The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania 15213","The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania 15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101845066"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":8.4722,"has_fulltext":false,"cited_by_count":474,"citation_normalized_percentile":{"value":0.97862436,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"15","issue":"6","first_page":"533","last_page":"556"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983999729156494,"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/controllability","display_name":"Controllability","score":0.8734171390533447},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6402968168258667},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6034350991249084},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5709009766578674},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5611178278923035},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5457112789154053},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5333715677261353},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5129804015159607},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5039030909538269},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5029270052909851},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4786885380744934},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.4161780774593353},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26519790291786194},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26371198892593384},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25209930539131165},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1463179588317871},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13653987646102905}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8734171390533447},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6402968168258667},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6034350991249084},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5709009766578674},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5611178278923035},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5457112789154053},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5333715677261353},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5129804015159607},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5039030909538269},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5029270052909851},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4786885380744934},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.4161780774593353},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26519790291786194},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26371198892593384},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25209930539131165},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1463179588317871},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13653987646102905},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836499601500602","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499601500602","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":[{"id":"https://metadata.un.org/sdg/11","score":0.7099999785423279,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":75,"referenced_works":["https://openalex.org/W86623919","https://openalex.org/W101508493","https://openalex.org/W172681767","https://openalex.org/W185393797","https://openalex.org/W1496759439","https://openalex.org/W1503679724","https://openalex.org/W1526351240","https://openalex.org/W1530159107","https://openalex.org/W1532304541","https://openalex.org/W1539769924","https://openalex.org/W1558116630","https://openalex.org/W1565727495","https://openalex.org/W1573709418","https://openalex.org/W1608593143","https://openalex.org/W1655990431","https://openalex.org/W1793265611","https://openalex.org/W1964373008","https://openalex.org/W1966211559","https://openalex.org/W1971998222","https://openalex.org/W1976610925","https://openalex.org/W1979934000","https://openalex.org/W1985578018","https://openalex.org/W1985745813","https://openalex.org/W2011307039","https://openalex.org/W2013833162","https://openalex.org/W2024121552","https://openalex.org/W2029342956","https://openalex.org/W2044725657","https://openalex.org/W2048484394","https://openalex.org/W2048517616","https://openalex.org/W2050708324","https://openalex.org/W2057285417","https://openalex.org/W2059435624","https://openalex.org/W2060506423","https://openalex.org/W2062339873","https://openalex.org/W2070267857","https://openalex.org/W2082148691","https://openalex.org/W2098572589","https://openalex.org/W2099864560","https://openalex.org/W2099951169","https://openalex.org/W2100215309","https://openalex.org/W2101196304","https://openalex.org/W2102747326","https://openalex.org/W2105353029","https://openalex.org/W2116955177","https://openalex.org/W2129787803","https://openalex.org/W2130527101","https://openalex.org/W2134072104","https://openalex.org/W2136008895","https://openalex.org/W2139122270","https://openalex.org/W2140998418","https://openalex.org/W2144216703","https://openalex.org/W2146897746","https://openalex.org/W2148970883","https://openalex.org/W2149354523","https://openalex.org/W2149505180","https://openalex.org/W2153763317","https://openalex.org/W2156481835","https://openalex.org/W2158182877","https://openalex.org/W2158424145","https://openalex.org/W2159767809","https://openalex.org/W2161113802","https://openalex.org/W2163171217","https://openalex.org/W2163432707","https://openalex.org/W2170508483","https://openalex.org/W2293376070","https://openalex.org/W2293480950","https://openalex.org/W2313274380","https://openalex.org/W2313475450","https://openalex.org/W2481390544","https://openalex.org/W2610755858","https://openalex.org/W3188953039","https://openalex.org/W4242811155","https://openalex.org/W6603539170","https://openalex.org/W6607008171"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2332386680","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W2561315646","https://openalex.org/W4205698120","https://openalex.org/W4239246781","https://openalex.org/W2542825942","https://openalex.org/W2383775285","https://openalex.org/W2094717948"],"abstract_inverted_index":{"We":[0,124],"would":[1],"like":[2],"to":[3,8,27,43,57,65,68],"give":[4],"robots":[5],"the":[6,14,20,33,63,69,82,100,103,108,136],"ability":[7],"position":[9],"and":[10,30,105,112,135],"orient":[11],"parts":[12,21],"in":[13],"plane":[15],"by":[16],"pushing,":[17],"particularly":[18],"when":[19],"are":[22,72],"too":[23],"large":[24],"or":[25,120],"heavy":[26],"be":[28],"grasped":[29],"lifted.":[31],"Unfortunately,":[32],"motion":[34,101],"of":[35,84,95,102,110],"a":[36,93,126],"pushed":[37],"object":[38,64],"is":[39,55,138],"generally":[40],"unpredictable":[41],"due":[42],"unknown":[44],"support":[45],"friction":[46],"forces.":[47],"With":[48],"multiple":[49],"pushing":[50,59,75,86,116,131],"contact":[51,119],"points,":[52],"however,":[53],"it":[54],"possible":[56],"find":[58],"directions":[60],"that":[61],"cause":[62],"remain":[66],"fixed":[67],"manipulator.":[70],"These":[71],"called":[73],"stable":[74,89,121,130],"directions.":[76],"In":[77],"this":[78],"article":[79],"we":[80,106],"consider":[81],"problem":[83],"planning":[85],"paths":[87,132],"using":[88],"pushes.":[90],"Pushing":[91],"imposes":[92],"set":[94],"nonholonomic":[96],"velocity":[97],"constraints":[98],"on":[99,141],"object,":[104],"study":[107],"issues":[109],"local":[111],"global":[113],"controllability":[114],"during":[115],"with":[117],"point":[118],"line":[122],"contact.":[123],"describe":[125],"planner":[127,137],"for":[128],"finding":[129],"among":[133],"obstacles,":[134],"demon":[139],"strated":[140],"several":[142],"manipulation":[143],"tasks.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":30},{"year":2020,"cited_by_count":33},{"year":2019,"cited_by_count":23},{"year":2018,"cited_by_count":38},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":20},{"year":2015,"cited_by_count":17},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":13}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}