{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T16:27:10Z","timestamp":1779380830214,"version":"3.53.1"},"reference-count":31,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"5","license":[{"start":{"date-parts":[[2025,5,1]],"date-time":"2025-05-01T00:00:00Z","timestamp":1746057600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,5,1]],"date-time":"2025-05-01T00:00:00Z","timestamp":1746057600000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,5,1]],"date-time":"2025-05-01T00:00:00Z","timestamp":1746057600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,5,1]],"date-time":"2025-05-01T00:00:00Z","timestamp":1746057600000},"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":["IEEE Trans. Automat. Contr."],"published-print":{"date-parts":[[2025,5]]},"DOI":"10.1109\/tac.2024.3508543","type":"journal-article","created":{"date-parts":[[2024,11,28]],"date-time":"2024-11-28T19:04:46Z","timestamp":1732820686000},"page":"3362-3369","source":"Crossref","is-referenced-by-count":5,"title":["On the Geometry of Virtual Nonlinear Nonholonomic Constraints"],"prefix":"10.1109","volume":"70","author":[{"ORCID":"https:\/\/orcid.org\/0009-0009-1216-6060","authenticated-orcid":false,"given":"Efstratios","family":"Stratoglou","sequence":"first","affiliation":[{"name":"Universidad Politécnica de Madrid (UPM), Madrid, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4644-876X","authenticated-orcid":false,"given":"Alexandre Anahory","family":"Simoes","sequence":"additional","affiliation":[{"name":"School of Science and Technology, IE University, Madrid, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0235-9765","authenticated-orcid":false,"given":"Anthony","family":"Bloch","sequence":"additional","affiliation":[{"name":"Department of Mathematics, University of Michigan, Ann Arbor, MI, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6493-6113","authenticated-orcid":false,"given":"Leonardo J.","family":"Colombo","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics (CSIC-UPM), Madrid, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","volume-title":"Foundations Mechanics","author":"Abraham","year":"1978"},{"key":"ref2","article-title":"Virtual nonholonomic constraints: A geometric approach","volume":"155","author":"Anahory Simoes","year":"2023","journal-title":"Automatica"},{"key":"ref3","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4939-3017-3","volume-title":"Nonholonomic Mechanics and Control Nonholonomic Mechanics and Control","author":"Bloch","year":"2015"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7276-7"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2003.1234651"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.3934\/jgm.2018018"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2015.7402099"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s13398-011-0046-2"},{"key":"ref9","volume-title":"Methods of Differential Geometry in Analytical Mechanics","volume":"158","author":"Len","year":"1989"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2007.07.011"},{"key":"ref11","first-page":"4053","article-title":"Grizzle nonholonomic virtual constraints for dynamic walking","volume-title":"Proc. 54th IEEE Conf. Decis. Control","author":"Griffin","year":"2015"},{"key":"ref12","first-page":"1","article-title":"Particular solutions in stereodynamics","volume-title":"Proc. Stereodynamics, Centro Internazionale Matematico Estivo, Edizioni Cremonese","author":"Grioli","year":"1972"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2019.2947874"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2977263"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2018.2888571"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2021.3133823"},{"key":"ref17","volume-title":"Nonlinear Control Systems","author":"Isidori","year":"2013"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2000.879165"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.na.2005.02.092"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574706002657"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006700"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/s42417-019-00186-1"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1023\/A:1015201213396"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2018.04.023"},{"key":"ref25","article-title":"Energy injection for mechanical systems through the method of virtual nonholonomic constraints","author":"Moran-MacDonald","year":"2021","journal-title":"MASc. thesis, Graduate Dept. Elect. Comput. Eng., Univ. Toronto"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2023.3294065"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1090\/mmono\/033"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2010.2042000"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-38299-4_10"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1201\/9781420053739"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.806653"}],"container-title":["IEEE Transactions on Automatic Control"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/9\/10977569\/10770574-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/9\/10977569\/10770574.pdf?arnumber=10770574","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,28]],"date-time":"2025-04-28T17:36:10Z","timestamp":1745861770000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10770574\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5]]},"references-count":31,"journal-issue":{"issue":"5"},"URL":"https:\/\/doi.org\/10.1109\/tac.2024.3508543","relation":{},"ISSN":["0018-9286","1558-2523","2334-3303"],"issn-type":[{"value":"0018-9286","type":"print"},{"value":"1558-2523","type":"electronic"},{"value":"2334-3303","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,5]]}}}