{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,21]],"date-time":"2026-03-21T02:11:57Z","timestamp":1774059117790,"version":"3.50.1"},"reference-count":49,"publisher":"IEEE","license":[{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020,5]]},"DOI":"10.1109\/icra40945.2020.9196854","type":"proceedings-article","created":{"date-parts":[[2020,9,15]],"date-time":"2020-09-15T17:25:46Z","timestamp":1600190746000},"page":"6730-6737","source":"Crossref","is-referenced-by-count":5,"title":["PuzzleFlex: kinematic motion of chains with loose joints"],"prefix":"10.1109","author":[{"given":"Samuel","family":"Lensgraf","sequence":"first","affiliation":[]},{"given":"Karim","family":"Itani","sequence":"additional","affiliation":[]},{"given":"Yinan","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Zezhou","family":"Sun","sequence":"additional","affiliation":[]},{"given":"Yijia","family":"Wu","sequence":"additional","affiliation":[]},{"given":"Alberto Quattrini","family":"Li","sequence":"additional","affiliation":[]},{"given":"Bo","family":"Zhu","sequence":"additional","affiliation":[]},{"given":"Emily","family":"Whiting","sequence":"additional","affiliation":[]},{"given":"Weifu","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Devin","family":"Balkcom","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1093\/comjnl\/7.4.308"},{"key":"ref38","author":"powell","year":"1998","journal-title":"Direct search algorithms for optimization calculations"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206199"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1016\/j.cad.2017.05.017"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2017.1371075"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2463651"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/s00170-013-5088-5"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-015-9198-0_47"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1080\/15458830.1996.11770732"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1007\/BF01580066"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241927"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908098485"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.506911"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759341"},{"key":"ref1","article-title":"Interlocking block assembly","author":"zhang","year":"2018"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1098\/rsta.2001.0911"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/s00454-003-0006-7"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1177\/0278364902021012003"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/BF01840373"},{"key":"ref23","author":"reuleaux","year":"1876","journal-title":"The Kinematics of Machinery"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650895"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912442972"},{"key":"ref10","article-title":"Puzzleflex: Kinematic motion of chains with loose joints, 2019","author":"lensgraf","year":"0","journal-title":"arXiv 1906 08708 [cs RO]"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1145\/160985.161013"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917719333"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1145\/280814.280821"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1111\/1467-8659.00594"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697007"},{"key":"ref15","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1145\/588272.588278","article-title":"Multiresolution green’s function methods for interactive simulation of large-scale elastostatic objects","volume":"22","author":"james","year":"2003","journal-title":"ACM Trans Graph"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1145\/566654.566624"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-015-9379-3"},{"key":"ref18","article-title":"Semi-infinite programming for trajectory op-timization with nonconvex obstacles","author":"hauser","year":"2018","journal-title":"Workshop on the Algorithmic Foundations of Robotics (WAFR)"},{"key":"ref19","first-page":"425","article-title":"Dynamics, friction, and complementarity problems","author":"stewart","year":"1997","journal-title":"Complementarity and Variational Problems"},{"key":"ref4","year":"2018","journal-title":"Gurobi Optimizer Reference Manual"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642123"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/70.97880"},{"key":"ref5","article-title":"Forward-mode automatic differentiation in julia","author":"revels","year":"2016","journal-title":"arXiv 1607 07892 [cs MS]"},{"key":"ref8","first-page":"2627","article-title":"Adjustable manipulability of closed-chain mechanisms through joint freezing and joint unactuation","author":"kim","year":"1998","journal-title":"Proc ICRA"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.677224"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-8176-4675-2_6"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/70.864226"},{"key":"ref46","author":"johnson","year":"0","journal-title":"Clipper-An Open Source Freeware Library for Clipping and Offsetting Lines and Polygons"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206294"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1007\/BF02574386"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1007\/s004539910025"},{"key":"ref42","first-page":"1234","article-title":"Self-assembly of a swarm of autonomous boats into floating structures","author":"o\u2019hara","year":"2014"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004323"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1641831"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1126\/science.1254295"}],"event":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","location":"Paris, France","start":{"date-parts":[[2020,5,31]]},"end":{"date-parts":[[2020,8,31]]}},"container-title":["2020 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9187508\/9196508\/09196854.pdf?arnumber=9196854","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,27]],"date-time":"2022-06-27T20:27:24Z","timestamp":1656361644000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9196854\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5]]},"references-count":49,"URL":"https:\/\/doi.org\/10.1109\/icra40945.2020.9196854","relation":{},"subject":[],"published":{"date-parts":[[2020,5]]}}}