{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,21]],"date-time":"2026-10-21T13:20:31Z","timestamp":1792588831495,"version":"4.5.0"},"reference-count":86,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["DGECR-2019-00085"],"award-info":[{"award-number":["DGECR-2019-00085"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2024]]},"DOI":"10.1109\/tro.2023.3347136","type":"journal-article","created":{"date-parts":[[2023,12,26]],"date-time":"2023-12-26T19:44:03Z","timestamp":1703619843000},"page":"1393-1409","source":"Crossref","is-referenced-by-count":12,"title":["Singularity-Free Lagrange-Poincar\u00e9 Equations on Lie Groups for Vehicle-Manipulator Systems"],"prefix":"10.1109","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9585-0179","authenticated-orcid":false,"given":"Borna Monazzah","family":"Moghaddam","sequence":"first","affiliation":[{"name":"Autonomous Space Robotics and Mechatronics Laboratory (ASRoM-Lab), Carleton University, Ottawa, ON, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0023-1928","authenticated-orcid":false,"given":"Robin","family":"Chhabra","sequence":"additional","affiliation":[{"name":"Autonomous Space Robotics and Mechatronics Laboratory (ASRoM-Lab), Carleton University, Ottawa, ON, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/70.88151"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/70.258052"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2021.03.029"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2808541"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2750693"},{"key":"ref6","article-title":"Modeling and control of underwater vehicle-manipulator systems","volume-title":"Proc. 3rd Conf. Mar. Craft Maneuvering Control","author":"Schjlberg","year":"1994"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/70.563648"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.127234"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2174065"},{"issue":"2","key":"ref10","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1023\/A:1009830626597","article-title":"On representations and parameterizations of motion","volume":"4","author":"Borri","year":"2000","journal-title":"Multibody System Dyn."},{"key":"ref11","volume-title":"Geometric Fundamentals of Robotics","author":"Selig","year":"2005"},{"key":"ref12","volume-title":"A Treatise on the Theory of Screws","author":"Ball","year":"1998"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1201\/9781315136370"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0031048"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/9.280779"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400606"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351370"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.842336"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(96)00802-0"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(98)00029-9"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2969028"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2168170"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.820853"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1985.268838"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2047529"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700019810"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131957"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/70.897794"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2013.09.013"},{"issue":"4","key":"ref30","doi-asserted-by":"crossref","first-page":"311","DOI":"10.1023\/A:1023321630764","article-title":"A lie-group formulation of kinematics and dynamics of constrained mbs and its application to analytical mechanics","volume":"9","author":"Mller","year":"2003","journal-title":"Multibody system Dyn."},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-017-9582-7"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1007\/s40295-019-00162-7"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-016-9538-3"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-5463-1"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/70.258046"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.825521"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2277535"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/48.922789"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(98)00051-2"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1243\/0954406021524873"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(90)90103-Q"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(90)90104-R"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/3477.662755"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.924250"},{"key":"ref45","volume-title":"Modeling and IPC Control of Interactive Mechanical SystemsA Coordinate-Free Approach","author":"Stramigioli","year":"2001"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1016\/j.simpat.2010.01.012"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.4173\/mic.2012.2.2"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.4173\/mic.2012.2.3"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2206853"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.3182\/20100906-3-IT-2019.00008"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.2514\/6.2011-7344"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-2682-6"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1007\/BF00398428"},{"key":"ref54","volume-title":"Hamiltonian Reduction by Stages","author":"Marsden","year":"2007"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1016\/0034-4877(74)90021-4"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1090\/memo\/0436"},{"key":"ref57","first-page":"139","article-title":"The reduced EulerLagrange equations","volume":"1","author":"Marsden","year":"1993","journal-title":"Fields Inst. Commun."},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1007\/b97376_5"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.572"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7276-7"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/9.871753"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(98)00119-8"},{"key":"ref63","first-page":"1","article-title":"Die Lagrange-Eulerschen gleichungen der Mechanik","volume":"50","author":"Hamel","year":"1904","journal-title":"Math. und Phys."},{"key":"ref64","volume-title":"Theoretische Mechanik: Eine Einheitliche Einfhrung in Die Gesamte Mechanik","author":"Hamel","year":"2013"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1016\/S1367-5788(97)00023-0"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1994.411534"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1007\/BF02199365"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/9.173144"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-56478-9_10"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1090\/memo\/0722"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900401"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1016\/j.geomphys.2014.12.011"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2014.07.012"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1115\/1.4034729"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1007\/s10883-014-9266-z"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/AERO.2016.7500577"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1137\/S0363012902412951"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341633"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3064510"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/CDC42340.2020.9304044"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1002\/pamm.200700076"},{"key":"ref82","doi-asserted-by":"crossref","DOI":"10.1017\/9781316661239","volume-title":"Modern Robotics","author":"Lynch","year":"2017"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3206716"},{"key":"ref84","article-title":"A unified geometric framework for kinematics, dynamics and concurrent control of free-base, open-chain multi-body systems with holonomic and nonholonomic constraints","author":"Chhabra","year":"2014"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.23919\/ACC53348.2022.9867748"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918772893"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10365208\/10374259.pdf?arnumber=10374259","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,6]],"date-time":"2025-02-06T18:56:58Z","timestamp":1738868218000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10374259\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024]]},"references-count":86,"URL":"https:\/\/doi.org\/10.1109\/tro.2023.3347136","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024]]}}}