{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:51:46Z","timestamp":1777715506050,"version":"3.51.4"},"reference-count":31,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[1997,6,1]],"date-time":"1997-06-01T00:00:00Z","timestamp":865123200000},"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":[[1997,6]]},"abstract":"<jats:p>A robot arm performs many tasks by interacting with objects or other robots in the environment. It is important for the robot arm to be able to exhibit controlled interactions with the objects and other robots. The contact motion between the robot arm and an object can be rolling, sliding, or separation. In this article, we address the problem of maintaining rolling contact between the robot arm and an external moving object. We assume that a nominal model of the motion of the moving object is available. The dynamic system that characterizes the motion of the robot arm and the moving object in this case is acatastatic and nonholonomic. We have designed a nonlinear feedback for the control of such a system that successfully maintains rolling contact. Simulation results are presented to demonstrate the effectiveness of the system.<\/jats:p>","DOI":"10.1177\/027836499701600306","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"357-374","source":"Crossref","is-referenced-by-count":22,"title":["Control of Contact Interactions with Acatastatic Nonholonomic Constraints"],"prefix":"10.1177","volume":"16","author":[{"given":"Nilanjan","family":"Sarkar","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering University of Hawaii at Manoa Honolulu, Hawaii 96822"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Xiaoping Yun","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering Naval Postgraduate School Monterey, California 93943-5121"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vijay","family":"Kumar","sequence":"additional","affiliation":[{"name":"GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania 19104-6228"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1997,6,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/9.173144"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(86)90128-X"},{"key":"atypb3","volume-title":"Proceedings of the 1987 International Conference on Robotics and Automation","author":"Cai, C."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0039268"},{"key":"atypb5","volume-title":"Proceedings of the 1991 International Conference on Robotics and Automation","author":"Canudas de Wit, C."},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/9.28014"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4684-6891-5"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9781139171731"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600400401"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"atypb11","volume-title":"Proceedings of the 1991 International Conference on Robotics and Automation","author":"Lafferriere, G."},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/70.88118"},{"key":"atypb13","volume-title":"Differential Geometry","author":"Lipschutz, M.M.","year":"1969"},{"key":"atypb14","author":"McConnell, A.J.","year":"1957","journal-title":"Analysis"},{"key":"atypb15","volume-title":"Elements of Differential Geometry","author":"Millman, R.S.","year":"1977"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700302"},{"key":"atypb17","volume-title":"Proceedings of the 1989 International Conference on Robotics and Automation","author":"Nakamura, Y."},{"key":"atypb18","author":"Neimark, Ju I.","year":"1972","journal-title":"American Mathematical Society"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1109\/87.388126"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1109\/70.313095"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4684-8318-5"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1115\/1.3267342"},{"key":"atypb23","volume-title":"Control of mechanical systems with rolling contacts: applications to robotics. 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