{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:13Z","timestamp":1777715713362,"version":"3.51.4"},"reference-count":11,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2000,11,1]],"date-time":"2000-11-01T00:00:00Z","timestamp":973036800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,11]]},"abstract":"<jats:p>This paper describes the existence of one of the most useful mechanisms for robotic systems, coined the \u201cvariable constraint mechanism.\u201d The variable constraint mechanism is a system that actively changes constraint conditions by itself, in response to the working purpose or the required motion sequence to acquire varied functionality. The paper discusses some of the generalized design principles for the mechanism and shows some example robotic systems, including an adjustable leg-length walking robot, a legged and wheeled hybrid vehicle, an autonomous multisection robot, and a planetary rover with collapsible frame and compressible wheels.<\/jats:p>","DOI":"10.1177\/02783640022067904","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"1126-1138","source":"Crossref","is-referenced-by-count":14,"title":["Variable Constraint Mechanism and Its Application for Design of Mobile Robots"],"prefix":"10.1177","volume":"19","author":[{"given":"Shigeo","family":"Hirose","sequence":"first","affiliation":[{"name":"Tokyo Institute of Technology, Department of Mechanical and Aerospace                         Engineering, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552 Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,11,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Arikawa, K., and Hirose, S. 1996. 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