{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:09Z","timestamp":1777715709984,"version":"3.51.4"},"reference-count":32,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2007,5,1]],"date-time":"2007-05-01T00:00:00Z","timestamp":1177977600000},"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":[[2007,5]]},"abstract":"<jats:p>\n                    The paper reports studies on the motion planning problem for planar star-shaped manipulators. These manipulators are formed by joining k \u201clegs\u201d to a common point (like the thorax of an insect) and then fixing the \u201cfeet\u201d to the ground. The result is a planar parallel manipulator with k - 1 independent closed loops. A topological analysis is used to understand the global structure of the configuration space so that the planning problem can be solved exactly. The worst-case complexity of the algorithm is O(k\n                    <jats:sup>3<\/jats:sup>\n                    N\n                    <jats:sup>3<\/jats:sup>\n                    ), where N is the maximum number of links in a leg. Examples illustrating the method are given.\n                  <\/jats:p>","DOI":"10.1177\/0278364907078094","type":"journal-article","created":{"date-parts":[[2007,4,10]],"date-time":"2007-04-10T11:23:26Z","timestamp":1176204206000},"page":"457-473","source":"Crossref","is-referenced-by-count":13,"title":["Motion Planning for a Class of Planar Closed-chain Manipulators"],"prefix":"10.1177","volume":"26","author":[{"given":"N.","family":"Shvalb","sequence":"first","affiliation":[{"name":"Department of ME, Technion-Israel Institute of Technology, Israel,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Shoham","sequence":"additional","affiliation":[{"name":"Department of ME, Technion-Israel Institute of Technology, Israel"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"G.","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Stanford University, Stanford, CA, USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J.C.","family":"Trinkle","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Rensselaer Polytechnic Institute, USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2007,5,1]]},"reference":[{"key":"atypb1","unstructured":"Amato, N., Bayazit, B., Dale, L., Jones, C., and Vallejo, D. 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