{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T09:19:59Z","timestamp":1648804799537},"reference-count":21,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2007,11,1]],"date-time":"2007-11-01T00:00:00Z","timestamp":1193875200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2007,11]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper describes the methods applicable to the modeling and control of mechanical contact, particularly those systems that experience uncertain stick\/slip phenomena. Geometric kinematic reductions are used to reduce a system's description from a second-order dynamic model with frictional disturbances coming from a function space to a first-order model with frictional disturbances coming from a space of finite automata over a finite set. As a result, modeling for purposes of control is made more straight-forward by getting rid of some dependencies on low-level mechanics (in particular, the details of friction modeling). Moreover, the online estimation of the uncertain, discrete-valued variables has reduced sensing requirements. The primary contributions of this paper are the introduction of a simplifying representation of friction and formal tests for kinematic reducibility. Results are illustrated using a slip-steered vehicle model and an actuator array model.<\/jats:p>","DOI":"10.1017\/s0263574707003827","type":"journal-article","created":{"date-parts":[[2007,10,15]],"date-time":"2007-10-15T11:05:12Z","timestamp":1192446312000},"page":"751-764","source":"Crossref","is-referenced-by-count":4,"title":["Kinematic reductions for uncertain mechanical contact"],"prefix":"10.1017","volume":"25","author":[{"given":"Todd D.","family":"Murphey","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2007,11,1]]},"reference":[{"key":"S0263574707003827_ref7","doi-asserted-by":"crossref","unstructured":"7. Bullo F. and Lynch K. , \u201cKinematic Controllability and Decoupled Trajectory Planning for Underactuated Mechanical Systems,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2001) pp. 3300\u20133307.","DOI":"10.1109\/ROBOT.2001.933127"},{"key":"S0263574707003827_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/S0924-4247(01)00598-2"},{"key":"S0263574707003827_ref14","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067543"},{"key":"S0263574707003827_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-015-7793-9"},{"key":"S0263574707003827_ref15","doi-asserted-by":"crossref","unstructured":"15. Murphey T. 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