{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,22]],"date-time":"2025-11-22T10:45:28Z","timestamp":1763808328993,"version":"3.41.0"},"reference-count":44,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[1999,1,1]],"date-time":"1999-01-01T00:00:00Z","timestamp":915148800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[1999,1,1]],"date-time":"1999-01-01T00:00:00Z","timestamp":915148800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Autonomous Robots"],"published-print":{"date-parts":[[1999,1]]},"DOI":"10.1023\/a:1008816424504","type":"journal-article","created":{"date-parts":[[2002,12,22]],"date-time":"2002-12-22T16:51:56Z","timestamp":1040575916000},"page":"7-20","source":"Crossref","is-referenced-by-count":12,"title":["Coordinated Motion and Force Control of Multi-Limbed Robotic Systems"],"prefix":"10.1007","volume":"6","author":[{"given":"Steven","family":"Dubowsky","sequence":"first","affiliation":[]},{"given":"Craig","family":"Sunada","sequence":"additional","affiliation":[]},{"given":"Constantinos","family":"Mavroidis","sequence":"additional","affiliation":[]}],"member":"297","reference":[{"key":"195195_CR1","volume-title":"Design of an artificial creature","author":"C. Angle","year":"1991","unstructured":"Angle, C. 1991. Design of an artificial creature. M.S. Thesis, Department of Electrical Engineering, MIT, Cambridge, MA."},{"key":"195195_CR2","volume-title":"An analytical and experimental study of the simultaneous control of motion and force of a climbing robot","author":"D.A. Argaez","year":"1993","unstructured":"Argaez, D.A. 1993. An analytical and experimental study of the simultaneous control of motion and force of a climbing robot. M.S. Thesis, Department of Mechanical Engineering, MIT, Cambridge, MA."},{"issue":"3","key":"195195_CR3","doi-asserted-by":"crossref","first-page":"213","DOI":"10.1016\/0926-5805(95)00005-L","volume":"4","author":"F. Bach","year":"1995","unstructured":"Bach, F., Rachkov, M., Seevers, J., and Hahn, M. 1995. High tractive power wall-climbing robot. Automation in Construction, 4(3):213\u2013224.","journal-title":"Automation in Construction"},{"key":"195195_CR4","volume-title":"Design of a small pneumatic walking robot","author":"M. Binnard","year":"1995","unstructured":"Binnard M. 1995. Design of a small pneumatic walking robot. M.S. Thesis, Department of Mechanical Engineering, MIT, Cambridge, MA."},{"key":"195195_CR5","doi-asserted-by":"crossref","unstructured":"Celaya, E. and Porta, J. 1996. Control of a six-legged robot walking on abrupt terrain. In Proc. of the IEEE Int. Conf. on Robotics and Automation, Minneapolis, MN, pp. 2731\u20132736.","DOI":"10.1109\/ROBOT.1996.506575"},{"issue":"1","key":"195195_CR6","first-page":"51","volume":"210","author":"P.H. Channon","year":"1996","unstructured":"Channon, P.H., Hopkins, S.H., and Pham, D.T. 1996. Optimal control of an n-legged robot. Journal of Systems & Control Engineering, 210(1):51\u201363.","journal-title":"Journal of Systems & Control Engineering"},{"key":"195195_CR7","unstructured":"Delta Tau Data Systems, Inc. 1995. PMAC Executive v3.1."},{"key":"195195_CR8","doi-asserted-by":"crossref","unstructured":"Fujimoto, Y. and Kawamura, A. 1996. Proposal of biped walking control based on robust hybrid position\/force control. In Proc. of the IEEE Int. Conf. on Robotics and Automation, Minneapolis, MN, pp. 2724\u20132730.","DOI":"10.1109\/ROBOT.1996.506574"},{"issue":"2","key":"195195_CR9","doi-asserted-by":"crossref","first-page":"4","DOI":"10.1177\/027836499000900202","volume":"9","author":"D. Gorinevsky","year":"1990","unstructured":"Gorinevsky, D. and Schneider, A. 1990. Force control in locomotion of legged vehicles over rigid and soft surfaces. The International Journal of Robotics Research, 9(2):4\u201323.","journal-title":"The International Journal of Robotics Research"},{"key":"195195_CR10","first-page":"602","volume":"1","author":"H. Haferkamp","year":"1994","unstructured":"Haferkamp, H., Bach, F., Ogawa, Y., and Rachkov, V. 1994. Climbing robot for underwater cutting. In Proc. of the IEEE Oceans Conference, Brest, France, 1:602\u2013607.","journal-title":"Proc. of the IEEE Oceans Conference"},{"key":"195195_CR11","doi-asserted-by":"crossref","unstructured":"Harmon, S.Y. 1988. A report on the NATO workshop on mobile robot implementation. In Proc. of the 1988 IEEE Int. Conf. on Robotics and Automation, Philadelphia, PA, pp. 604\u2013610.","DOI":"10.1109\/ROBOT.1988.12118"},{"key":"195195_CR12","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.3140702","volume":"107","author":"N. Hogan","year":"1985","unstructured":"Hogan, N. 1985a. Impedance control: An approach to manipulation: Part I-Theory. Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, 107:1\u20137.","journal-title":"Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control"},{"key":"195195_CR13","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1115\/1.3140713","volume":"107","author":"N. Hogan","year":"1985","unstructured":"Hogan, N. 1985b. Impedance control: An approach to manipulation: Part II-Implementation. Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, 107:8\u201316.","journal-title":"Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control"},{"key":"195195_CR14","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1115\/1.3140701","volume":"107","author":"N. Hogan","year":"1985","unstructured":"Hogan, N. 1985c. Impedance control: An approach to manipulation: Part III-Applications. Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, 107:17\u201324.","journal-title":"Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control"},{"key":"195195_CR15","doi-asserted-by":"crossref","unstructured":"Hogan, N. 1991. Impedance control of robots with harmonic drive systems. In Proc. of the 1991 American Control Conf., Boston, MA.","DOI":"10.23919\/ACC.1991.4791398"},{"key":"195195_CR16","doi-asserted-by":"crossref","unstructured":"Hootsmans N. and Dubowsky S. 1991. Large motion control of mobile manipulators including vehicle suspension characteristics. In Proc. of the 1991 IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, pp. 2336\u20132341.","DOI":"10.1109\/ROBOT.1991.131751"},{"issue":"1","key":"195195_CR17","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/JRA.1987.1087068","volume":"RA-3","author":"O. Khatib","year":"1987","unstructured":"Khatib, O. 1987. A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE Journal of Robotics and Automation, RA-3(1):43\u201353.","journal-title":"IEEE Journal of Robotics and Automation"},{"issue":"1","key":"195195_CR18","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1177\/027836498400300101","volume":"3","author":"T. Lozano-Perez","year":"1984","unstructured":"Lozano-Perez, T., Mason, M.T., and Taylor, R.H. 1984. Automatic synthesis of fine-motion strategies. The International Journal of Robotics Research, 3(1):3\u201324.","journal-title":"The International Journal of Robotics Research"},{"key":"195195_CR19","doi-asserted-by":"crossref","unstructured":"Luk, B.L., Collie, A.A., and Billingsley, J. 1991. Robug II: An intelligent wall climbing robot. In Proc. of the IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, pp. 2342\u20132347.","DOI":"10.1109\/ROBOT.1991.131752"},{"key":"195195_CR20","doi-asserted-by":"crossref","first-page":"418","DOI":"10.1109\/TSMC.1981.4308708","volume":"SMC-11","author":"M.T. Mason","year":"1981","unstructured":"Mason, M.T. 1981. Compliance and force control for computer controlled manipulators. IEEE Trans. on Systems Man and Cybernetics, SMC-11:418\u2013432.","journal-title":"IEEE Trans. on Systems Man and Cybernetics"},{"issue":"4","key":"195195_CR21","doi-asserted-by":"crossref","first-page":"718","DOI":"10.1115\/1.2802382","volume":"119","author":"C. Mavroidis","year":"1997","unstructured":"Mavroidis, C., Dubowsky, S., and Thomas, K. 1997. Optimal sensor location in motion control of flexibly supported long reach manipulators. Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, 119(4):718\u2013726.","journal-title":"Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control"},{"key":"195195_CR22","first-page":"10","volume":"8","author":"H.B. Meieran","year":"1986","unstructured":"Meieran, H.B. and Gelhaus, F.E. 1986. Mobile robots designed for hazardous environments. Robots and Engineering, 8:10\u201316.","journal-title":"Robots and Engineering"},{"key":"195195_CR23","doi-asserted-by":"crossref","unstructured":"Nagakubo, A. and Hirose, S. 1994. Walking and running of the quadruped wall-climbing robot. In Proc. of the IEEE Int. Con. on Robotics and Automation, San Diego, CA, pp. 1005\u20131012.","DOI":"10.1109\/ROBOT.1994.351225"},{"issue":"2","key":"195195_CR24","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1016\/0045-7906(95)00034-8","volume":"22","author":"A. Nishi","year":"1996","unstructured":"Nishi, A. 1996. Development of wall-climbing robots. Computer and Electrical Engineering, 22(2):123\u2013149.","journal-title":"Computer and Electrical Engineering"},{"issue":"1","key":"195195_CR25","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1109\/37.482133","volume":"16","author":"S. Pannu","year":"1996","unstructured":"Pannu, S., Kazerooni, H., Becker, G., and Packard, A. 1996. m-Synthesis control for a walking robot. IEEE Control Systems Magazine, 16(1):20\u201325.","journal-title":"IEEE Control Systems Magazine"},{"key":"195195_CR26","doi-asserted-by":"crossref","first-page":"750","DOI":"10.1109\/70.105384","volume":"7","author":"E. Papadopoulos","year":"1991","unstructured":"Papadopoulos, E. and Dubowsky, S. 1991a. On the nature of control algorithms for free-floating space manipulators. IEEE Transactions on Robotics and Automation, 7:750\u2013758.","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"195195_CR27","doi-asserted-by":"crossref","unstructured":"Papadopoulos, E. and Dubowsky, S. 1991b. Failure recovery control for space robotic systems. In Proc. of the 1991 American Control Conf., Boston, MA, pp. 1485\u20131490.","DOI":"10.23919\/ACC.1991.4791629"},{"issue":"11","key":"195195_CR28","doi-asserted-by":"crossref","first-page":"687","DOI":"10.1002\/(SICI)1097-4563(199611)13:11<687::AID-ROB1>3.0.CO;2-R","volume":"13","author":"C. Perrier","year":"1996","unstructured":"Perrier, C., Cellier, L., Dauchez, P., Fraisse, P., Degoulange, E., and Pierrot, F., 1996. Position\/force control of a manipulator mounted on a vehicle. Journal of Robotic Systems, 13(11):687\u2013698.","journal-title":"Journal of Robotic Systems"},{"key":"195195_CR29","doi-asserted-by":"crossref","unstructured":"Pratt, J. 1997. Virtual model control of a biped walking robot. In Proc. of the IEEE Int. Conf. on Robotics and Automation, Albuquerque, NM, pp. 193\u2013198.","DOI":"10.1109\/ROBOT.1997.620037"},{"key":"195195_CR30","doi-asserted-by":"crossref","first-page":"126","DOI":"10.1115\/1.3139652","volume":"102","author":"M. Raibert","year":"1981","unstructured":"Raibert, M. and Craig, J. 1981. Hybrid position\/force control of manipulators. Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, 102:126\u2013133.","journal-title":"Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control"},{"key":"195195_CR31","unstructured":"Russakow, J., Khatib, O., and Rock, S. 1995. Extended operational space formulation for serial-to-parallel chain (branching) manipulators. In Proc. of the IEEE Int. Conf. on Robotics and Automation, Nagoya, Japan."},{"key":"195195_CR32","volume-title":"Advanced Mechanism Design: Analysis and Synthesis","author":"G. Sandor","year":"1984","unstructured":"Sandor, G. and Erdman, A. 1984. Advanced Mechanism Design: Analysis and Synthesis, Volume 2. Prentice-Hall, Inc., Englewood Cliffs, NJ."},{"issue":"3","key":"195195_CR33","doi-asserted-by":"crossref","first-page":"383","DOI":"10.1109\/70.143355","volume":"8","author":"S.A. Schneider","year":"1992","unstructured":"Schneider, S.A. and Cannon, R.H., Jr. 1992. Object manipulation control for cooperative manipulation: Theory and experimental results. IEEE Transactions on Robotics and Automation, 8(3):383\u2013394.","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"4","key":"195195_CR34","doi-asserted-by":"crossref","first-page":"472","DOI":"10.1109\/70.88062","volume":"5","author":"H. Seraji","year":"1989","unstructured":"Seraji, H. 1989. Configuration control of redundant manipulators: Theory and implementation. IEEE Transactions on Robotics and Automation, 5(4):472\u2013490.","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"5","key":"195195_CR35","doi-asserted-by":"crossref","first-page":"531","DOI":"10.1002\/rob.4620100408","volume":"10","author":"C. Shih","year":"1993","unstructured":"Shih, C., Gruver, A., and Lee, T. 1993. Inverse kinematics and inverse dynamics for control of a biped walking machine. Journal of Robotics Systems, 10(5):531\u2013555.","journal-title":"Journal of Robotics Systems"},{"issue":"2","key":"195195_CR36","first-page":"37","volume":"7","author":"T. Stone","year":"1995","unstructured":"Stone, T., Cooke, D., and Luk, B. 1995. Robug III-The design of an eight legged teleoperated walking and climbing robot for disordered hazardous environments. Mechanical Incorporated Engineer, 7(2):37\u201341.","journal-title":"Mechanical Incorporated Engineer"},{"key":"195195_CR37","volume-title":"Coordinated jacobian transpose control and its application to a climbing machine","author":"C. Sunada","year":"1994","unstructured":"Sunada, C. 1994. Coordinated jacobian transpose control and its application to a climbing machine. M.S. Thesis, Department of Mechanical Engineering, MIT, Cambridge, MA."},{"key":"195195_CR38","doi-asserted-by":"crossref","unstructured":"Whitney, D.E. 1977. Force feedback and control of manipulator fine motions. Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, pp. 91\u201397.","DOI":"10.1115\/1.3427095"},{"issue":"1","key":"195195_CR39","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1177\/027836498700600101","volume":"6","author":"D.E. Whitney","year":"1987","unstructured":"Whitney, D.E. 1987. Historical perspective and state of the art in robot force control. The International Journal of Robotics Research, 6(1):3\u201314.","journal-title":"The International Journal of Robotics Research"},{"key":"195195_CR40","first-page":"175","volume":"1","author":"B. Wilcox","year":"1992","unstructured":"Wilcox, B. et al. 1992. Robotic vehicles for planetary exploration. In Proc. of the IEEE Int. Conf. on Robotics and Automation, Nice, France, 1:175\u2013180.","journal-title":"Proc. of the IEEE Int. Conf. on Robotics and Automation"},{"key":"195195_CR41","unstructured":"Woodbury, R. 1990. Exploring the ocean's frontiers robots and miniature submarines take oil drillers to new depths. Time, p. 17."},{"key":"195195_CR42","doi-asserted-by":"crossref","unstructured":"Yoneda, K., Iiyama, H., Hirose, and Shigeo, S. 1994. Sky hook suspension control of a quadruped walking vehicle. In Proc. of the IEEE Int. Conf. on Robotics and Automation, San Diego, CA, pp. 999\u20131004.","DOI":"10.1109\/ROBOT.1994.351247"},{"issue":"3","key":"195195_CR43","doi-asserted-by":"crossref","first-page":"219","DOI":"10.1177\/027836499301200302","volume":"12","author":"T. Yoshikawa","year":"1993","unstructured":"Yoshikawa, T. and Zheng, X. 1993. Coordinated dynamic hybrid position\/force control for multiple robot manipulators handling one constrained object. The International Journal of Robotics Research, 12(3):219\u2013230.","journal-title":"The International Journal of Robotics Research"},{"issue":"5","key":"195195_CR44","doi-asserted-by":"crossref","first-page":"473","DOI":"10.1017\/S026357479700057X","volume":"15","author":"G. Zeng","year":"1997","unstructured":"Zeng, G. and Hemami, A. 1997. Overview of robot force control. Robotica, 15(5):473\u2013482.","journal-title":"Robotica"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1023\/A:1008816424504.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1023\/A:1008816424504\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1023\/A:1008816424504.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,24]],"date-time":"2025-05-24T07:10:06Z","timestamp":1748070606000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1023\/A:1008816424504"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1999,1]]},"references-count":44,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1999,1]]}},"alternative-id":["195195"],"URL":"https:\/\/doi.org\/10.1023\/a:1008816424504","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"type":"print","value":"0929-5593"},{"type":"electronic","value":"1573-7527"}],"subject":[],"published":{"date-parts":[[1999,1]]}}}