{"id":"https://openalex.org/W4393357780","doi":"https://doi.org/10.3390/robotics13040057","title":"Motion Planning of Differentially Flat Planar Underactuated Robots","display_name":"Motion Planning of Differentially Flat Planar Underactuated Robots","publication_year":2024,"publication_date":"2024-03-30","ids":{"openalex":"https://openalex.org/W4393357780","doi":"https://doi.org/10.3390/robotics13040057"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13040057","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13040057","pdf_url":"https://www.mdpi.com/2218-6581/13/4/57/pdf?version=1711803098","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/13/4/57/pdf?version=1711803098","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087125282","display_name":"Michele Tonan","orcid":"https://orcid.org/0000-0003-1187-4013"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Michele Tonan","raw_affiliation_strings":["Department of Industrial Engineering, University of Padova, 35131 Padova, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1187-4013","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Padova, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004263832","display_name":"Matteo Bottin","orcid":"https://orcid.org/0000-0001-6611-173X"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Bottin","raw_affiliation_strings":["Department of Industrial Engineering, University of Padova, 35131 Padova, Italy"],"raw_orcid":"https://orcid.org/0000-0001-6611-173X","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Padova, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101925215","display_name":"A. Doria","orcid":"https://orcid.org/0000-0003-0896-7796"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alberto Doria","raw_affiliation_strings":["Department of Industrial Engineering, University of Padova, 35131 Padova, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0896-7796","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Padova, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070709789","display_name":"Giulio Rosati","orcid":"https://orcid.org/0000-0002-5150-9486"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulio Rosati","raw_affiliation_strings":["Department of Industrial Engineering, University of Padova, 35131 Padova, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5150-9486","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Padova, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101925215"],"corresponding_institution_ids":["https://openalex.org/I138689650"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":2.5242,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.88934563,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"13","issue":"4","first_page":"57","last_page":"57"},"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":0.9983000159263611,"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":0.9983000159263611,"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":0.9975000023841858,"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":0.9932000041007996,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8589180707931519},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6698073148727417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.620987057685852},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5018088817596436},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4864206314086914},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44846731424331665},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33234304189682007},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3307417929172516},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.17353549599647522}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8589180707931519},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6698073148727417},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.620987057685852},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5018088817596436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4864206314086914},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44846731424331665},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33234304189682007},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3307417929172516},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.17353549599647522}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics13040057","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13040057","pdf_url":"https://www.mdpi.com/2218-6581/13/4/57/pdf?version=1711803098","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:www.research.unipd.it:11577/3526921","is_oa":true,"landing_page_url":"https://www.mdpi.com/2218-6581/13/4/57","pdf_url":"https://www.mdpi.com/2218-6581/13/4/57/pdf?version=1712022873","source":{"id":"https://openalex.org/S4306402547","display_name":"Padua Research Archive (University of Padova)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:8eb7ccbfc6574a938ca86b7e488aa58b","is_oa":true,"landing_page_url":"https://doaj.org/article/8eb7ccbfc6574a938ca86b7e488aa58b","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 4, p 57 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13040057","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13040057","pdf_url":"https://www.mdpi.com/2218-6581/13/4/57/pdf?version=1711803098","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6299999952316284,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321966","display_name":"Universit\u00e0 degli Studi di Padova","ror":"https://ror.org/00240q980"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4393357780.pdf"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1517588719","https://openalex.org/W1757527016","https://openalex.org/W1960096875","https://openalex.org/W2056295510","https://openalex.org/W2059234421","https://openalex.org/W2071848173","https://openalex.org/W2086790315","https://openalex.org/W2150270730","https://openalex.org/W2169259862","https://openalex.org/W2507258199","https://openalex.org/W2605188590","https://openalex.org/W2727221313","https://openalex.org/W2734675969","https://openalex.org/W2751843673","https://openalex.org/W2898672902","https://openalex.org/W2956309146","https://openalex.org/W3156355113","https://openalex.org/W3203781294","https://openalex.org/W3215554896","https://openalex.org/W4285193805","https://openalex.org/W4289868331","https://openalex.org/W4311633484","https://openalex.org/W4380090354","https://openalex.org/W4386091490","https://openalex.org/W4391963842"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999","https://openalex.org/W4293094921"],"abstract_inverted_index":{"Differential":[0],"flat":[1],"underactuated":[2,92,151],"robots":[3,22,32],"have":[4,49],"fewer":[5],"actuators":[6],"than":[7],"degrees":[8],"of":[9,54,126,131,134],"freedom":[10],"(DOFs).":[11],"This":[12],"characteristic":[13],"makes":[14],"it":[15],"possible":[16],"to":[17,50,78,102,138],"design":[18],"light":[19],"and":[20,130,155],"cost-effective":[21],"with":[23,30,44],"great":[24],"dexterity.":[25],"The":[26,120],"primary":[27],"challenge":[28],"associated":[29],"these":[31],"lies":[33],"in":[34,40,46,98],"effectively":[35],"controlling":[36],"the":[37,47,55,66,91,96,99,124,127,132,135,140,159],"passive":[38],"joint,":[39],"particular,":[41],"when":[42],"collisions":[43],"obstacles":[45,97],"workspace":[48],"be":[51],"avoided.":[52],"Most":[53],"previous":[56],"research":[57],"focused":[58],"on":[59,65,148],"point-to-point":[60],"motions":[61],"without":[62],"any":[63],"control":[64],"actual":[67],"robot":[68,93,152],"trajectory.":[69],"In":[70,88,143],"this":[71,89],"work,":[72],"a":[73,108,149],"new":[74],"method":[75],"is":[76,112],"presented":[77],"plan":[79],"trajectories":[80],"that":[81],"include":[82],"one":[83],"or":[84],"more":[85],"via":[86,128],"points.":[87],"way,":[90],"can":[94],"avoid":[95],"workspace,":[100],"similarly":[101],"traditional":[103],"fully":[104],"actuated":[105],"robots.":[106],"First,":[107],"trajectory":[109],"planning":[110],"strategy":[111],"analytically":[113],"described;":[114],"then,":[115],"numerical":[116,121],"results":[117,122,157],"are":[118,153],"presented.":[119],"show":[123],"effects":[125],"points":[129],"order":[133],"polynomials":[136],"adopted":[137],"define":[139],"motion":[141],"laws.":[142],"addition,":[144],"experimental":[145],"tests":[146],"performed":[147],"two-DOF":[150],"presented,":[154],"their":[156],"validate":[158],"proposed":[160],"method.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}