{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,11]],"date-time":"2025-09-11T20:45:42Z","timestamp":1757623542944,"version":"3.44.0"},"publisher-location":"Cham","reference-count":16,"publisher":"Springer Nature Switzerland","isbn-type":[{"type":"print","value":"9783032014856"},{"type":"electronic","value":"9783032014863"}],"license":[{"start":{"date-parts":[[2025,8,13]],"date-time":"2025-08-13T00:00:00Z","timestamp":1755043200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,8,13]],"date-time":"2025-08-13T00:00:00Z","timestamp":1755043200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026]]},"DOI":"10.1007\/978-3-032-01486-3_10","type":"book-chapter","created":{"date-parts":[[2025,8,19]],"date-time":"2025-08-19T15:46:40Z","timestamp":1755618400000},"page":"111-123","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Multi-Contact Posture Generation Using Vector Field Inequalities"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9002-4257","authenticated-orcid":false,"given":"Daniel S. J.","family":"Derwent","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9783-0147","authenticated-orcid":false,"given":"Simon","family":"Watson","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5080-8724","authenticated-orcid":false,"given":"Bruno Vilhena","family":"Adorno","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,8,13]]},"reference":[{"issue":"3","key":"10_CR1","doi-asserted-by":"publisher","first-page":"745","DOI":"10.1109\/TRO.2013.2294882","volume":"30","author":"M Bjerkeng","year":"2014","unstructured":"Bjerkeng, M., Falco, P., Natale, C., Pettersen, K.Y.: Stability analysis of a hierarchical architecture for discrete-time sensor-based control of robotic systems. IEEE Trans. Rob. 30(3), 745\u2013753 (2014). https:\/\/doi.org\/10.1109\/TRO.2013.2294882","journal-title":"IEEE Trans. Rob."},{"issue":"4","key":"10_CR2","doi-asserted-by":"publisher","first-page":"317","DOI":"10.1177\/0278364906063979","volume":"25","author":"T Bretl","year":"2006","unstructured":"Bretl, T.: Motion planning of multi-limbed robots subject to equilibrium constraints: the free-climbing robot problem. Int. J. Robot. Res. 25(4), 317\u2013342 (2006). https:\/\/doi.org\/10.1177\/0278364906063979","journal-title":"Int. J. Robot. Res."},{"issue":"4","key":"10_CR3","doi-asserted-by":"publisher","first-page":"794","DOI":"10.1109\/TRO.2008.2001360","volume":"24","author":"T Bretl","year":"2008","unstructured":"Bretl, T., Lall, S.: Testing static equilibrium for legged robots. IEEE Trans. Rob. 24(4), 794\u2013807 (2008). https:\/\/doi.org\/10.1109\/TRO.2008.2001360","journal-title":"IEEE Trans. Rob."},{"issue":"5","key":"10_CR4","doi-asserted-by":"publisher","first-page":"428","DOI":"10.1016\/j.robot.2013.01.008","volume":"61","author":"A Escande","year":"2013","unstructured":"Escande, A., Kheddar, A., Miossec, S.: Planning contact points for humanoid robots. Robot. Auton. Syst. 61(5), 428\u2013442 (2013). https:\/\/doi.org\/10.1016\/j.robot.2013.01.008","journal-title":"Robot. Auton. Syst."},{"key":"10_CR5","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2023.104448","volume":"166","author":"P Ferrari","year":"2023","unstructured":"Ferrari, P., et al.: Multi-contact planning and control for humanoid robots: design and validation of a complete framework. Robot. Auton. Syst. 166, 104448 (2023). https:\/\/doi.org\/10.1016\/j.robot.2023.104448","journal-title":"Robot. Auton. Syst."},{"key":"10_CR6","doi-asserted-by":"publisher","unstructured":"Hauser, K., Bretl, T., Latombe, J.C.: Non-gaited humanoid locomotion planning. In: 5th IEEE-RAS International Conference on Humanoid Robots, 2005, pp. 7\u201312 (2005). https:\/\/doi.org\/10.1109\/ICHR.2005.1573537","DOI":"10.1109\/ICHR.2005.1573537"},{"key":"10_CR7","doi-asserted-by":"publisher","unstructured":"Hauser, K., Bretl, T., Harada, K., Latombe, J.C.: Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots, pp. 507\u2013522. Springer, Berlin (2008). https:\/\/doi.org\/10.1007\/978-3-540-68405-3_32","DOI":"10.1007\/978-3-540-68405-3_32"},{"key":"10_CR8","unstructured":"Johnson, D.S., Adorno, B.V., Watson, S.: Receding horizon contact planning for advanced motions in hexapod robots. In: Towards Autonomous Robotic Systems Extended Abstracts: 24th Annual Conference, TAROS 2023 Cambridge, UK, pp. 34\u201337 (2023). https:\/\/research.manchester.ac.uk\/en\/publications\/receding-horizon-contact-planning-for-advanced-motions-in-hexapod"},{"issue":"2","key":"10_CR9","doi-asserted-by":"publisher","first-page":"573","DOI":"10.1037\/a0029146","volume":"142","author":"JK Kruschke","year":"2013","unstructured":"Kruschke, J.K.: Bayesian estimation supersedes the t test. J. Exp. Psychol. Gen. 142(2), 573\u2013603 (2013)","journal-title":"J. Exp. Psychol. Gen."},{"issue":"5","key":"10_CR10","doi-asserted-by":"publisher","first-page":"1166","DOI":"10.1109\/TRO.2019.2920078","volume":"35","author":"MM Marinho","year":"2019","unstructured":"Marinho, M.M., Adorno, B.V., Harada, K., Mitsuishi, M.: Dynamic active constraints for surgical robots using vector-field inequalities. IEEE Trans. Rob. 35(5), 1166\u20131185 (2019). https:\/\/doi.org\/10.1109\/TRO.2019.2920078","journal-title":"IEEE Trans. Rob."},{"key":"10_CR11","doi-asserted-by":"publisher","unstructured":"Mordatch, I., Todorov, E., Popovi\u0107, Z.: Discovery of complex behaviors through contact-invariant optimization. ACM Trans. Graph. 31(4) (2012). https:\/\/doi.org\/10.1145\/2185520.2185539","DOI":"10.1145\/2185520.2185539"},{"issue":"4","key":"10_CR12","doi-asserted-by":"publisher","first-page":"1103","DOI":"10.1007\/s40313-022-00915-0","volume":"33","author":"MS Pereira","year":"2022","unstructured":"Pereira, M.S., Adorno, B.V.: Manipulation task planning and motion control using task relaxations. J. Control Autom. Electr. Syst. 33(4), 1103\u20131115 (2022)","journal-title":"J. Control Autom. Electr. Syst."},{"issue":"4","key":"10_CR13","doi-asserted-by":"publisher","first-page":"4048","DOI":"10.1109\/LRA.2019.2928783","volume":"4","author":"JJ Quiroz-Oma\u00f1a","year":"2019","unstructured":"Quiroz-Oma\u00f1a, J.J., Adorno, B.V.: Whole-body control with (self) collision avoidance using vector field inequalities. IEEE Robot. Autom. Lett. 4(4), 4048\u20134053 (2019). https:\/\/doi.org\/10.1109\/LRA.2019.2928783","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"3","key":"10_CR14","doi-asserted-by":"publisher","first-page":"586","DOI":"10.1109\/TRO.2018.2819658","volume":"34","author":"S Tonneau","year":"2018","unstructured":"Tonneau, S., Del Prete, A., Pettr\u00e9, J., Park, C., Manocha, D., Mansard, N.: An efficient acyclic contact planner for multiped robots. IEEE Trans. Robot. 34(3), 586\u2013601 (2018). https:\/\/doi.org\/10.1109\/TRO.2018.2819658","journal-title":"IEEE Trans. Robot."},{"key":"10_CR15","unstructured":"University of Manchester: Corin: Mobile hexapod for remote inspection and object manipulation (2022). https:\/\/uomrobotics.com\/robots\/corin.html"},{"key":"10_CR16","unstructured":"Vilhena\u00a0Adorno, B.: Robot Kinematic Modeling and Control Based on Dual Quaternion Algebra \u2014 Part I: Fundamentals (2017). https:\/\/hal.science\/hal-01478225. working paper or preprint"}],"container-title":["Lecture Notes in Computer Science","Towards Autonomous Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-032-01486-3_10","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,9]],"date-time":"2025-09-09T07:13:58Z","timestamp":1757402038000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-032-01486-3_10"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,8,13]]},"ISBN":["9783032014856","9783032014863"],"references-count":16,"URL":"https:\/\/doi.org\/10.1007\/978-3-032-01486-3_10","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2025,8,13]]},"assertion":[{"value":"13 August 2025","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"The authors have no competing interests to declare that are relevant to the content of this article.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Disclosure of Interests"}},{"value":"TAROS","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Annual Conference Towards Autonomous Robotic Systems","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"York","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"United Kingdom","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2025","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"20 August 2025","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"22 August 2025","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"26","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"taros2025","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/taros-conference.org\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}