{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T10:20:49Z","timestamp":1773656449780,"version":"3.50.1"},"reference-count":23,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"9","license":[{"start":{"date-parts":[[2014,9,1]],"date-time":"2014-09-01T00:00:00Z","timestamp":1409529600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Automat. Contr."],"published-print":{"date-parts":[[2014,9]]},"DOI":"10.1109\/tac.2014.2308641","type":"journal-article","created":{"date-parts":[[2014,2,26]],"date-time":"2014-02-26T19:19:27Z","timestamp":1393442367000},"page":"2555-2561","source":"Crossref","is-referenced-by-count":57,"title":["Controlled Invariants and Trajectory Planning for Underactuated Mechanical Systems"],"prefix":"10.1109","volume":"59","author":[{"given":"Anton S.","family":"Shiriaev","sequence":"first","affiliation":[]},{"given":"Leonid B.","family":"Freidovich","sequence":"additional","affiliation":[]},{"given":"Mark W.","family":"Spong","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2009.07.005"},{"key":"ref11","first-page":"59","article-title":"Principles of dynamics and servoconstraints","author":"kozlov","year":"1989","journal-title":"Vestnik Moskov Univ Ser I Mat Mekh"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2239551"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642139"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2012.0505"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.680600"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2012.2215538"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.800770"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/37.915398"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2009.2033760"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/9.895562"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/9.956051"},{"key":"ref6","first-page":"659","article-title":"Construction of the complete set of systems of differential equations having a given integral curve","volume":"16","author":"erugin","year":"1952","journal-title":"Akad Nauk SSSR Prikl Mat Meh"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2010366"},{"key":"ref8","author":"galilullin","year":"1981","journal-title":"Obratnye zadachi dinamiki (Inverse Problems of Dynamics)"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2028757"},{"key":"ref2","author":"b\u00e9ghin","year":"1922","journal-title":"&#x00C9;tude th&#x00E9;orique des compas gyrostatiques Ansch&#x00FC;tz et Sperry"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2003.809820"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_14"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2010.2042000"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1994.407375"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.ejcon.2013.09.004"},{"key":"ref23","doi-asserted-by":"crossref","DOI":"10.1201\/9781420053739","author":"westervelt","year":"2007","journal-title":"Feedback Control of Dynamic Bipedal Robot Locomotion"}],"container-title":["IEEE Transactions on Automatic Control"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9\/6880868\/06748863.pdf?arnumber=6748863","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T16:50:25Z","timestamp":1642006225000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6748863\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,9]]},"references-count":23,"journal-issue":{"issue":"9"},"URL":"https:\/\/doi.org\/10.1109\/tac.2014.2308641","relation":{},"ISSN":["0018-9286","1558-2523"],"issn-type":[{"value":"0018-9286","type":"print"},{"value":"1558-2523","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,9]]}}}