{"id":"https://openalex.org/W43375889","doi":null,"title":"Stable, Robust, and Versatile Multibody Dynamics Animation","display_name":"Stable, Robust, and Versatile Multibody Dynamics Animation","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W43375889","mag":"43375889"},"language":"en","primary_location":{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/778429c0-74be-11db-bee9-02004c4f4f50","doi":null,"is_oa":false,"landing_page_url":"https://researchprofiles.ku.dk/da/publications/778429c0-74be-11db-bee9-02004c4f4f50","pdf_url":null,"source":{"id":"https://openalex.org/S4306401983","display_name":"Research at the University of Copenhagen (University of Copenhagen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I124055696","host_organization_name":"University of Copenhagen","host_organization_lineage":["https://openalex.org/I124055696"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Erleben , K 2005 , ' Stable, Robust, and Versatile Multibody Dynamics Animation ' .","raw_type":"other"},"volume":null,"type":"other","indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039465110","display_name":"Kenny Erleben","orcid":"https://orcid.org/0000-0001-6808-4747","observed_orcids":["https://orcid.org/0000-0001-6808-4747"]},"institutions":[{"id":"https://openalex.org/I124055696","display_name":"University of Copenhagen","ror":"https://ror.org/035b05819","country_code":"DK","type":"education","lineage":["https://openalex.org/I124055696"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Kenny Erleben","raw_affiliation_strings":["The Image Section, Department of Computer Science, Faculty of Science, K\u00f8benhavns Universitet"],"raw_orcid":"https://orcid.org/0000-0001-6808-4747","affiliations":[{"raw_affiliation_string":"The Image Section, Department of Computer Science, Faculty of Science, K\u00f8benhavns Universitet","institution_ids":["https://openalex.org/I124055696"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5039465110"],"corresponding_institution_ids":["https://openalex.org/I124055696"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":74,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.6284000277519226,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.6284000277519226,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.3280999958515167,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.013000000268220901,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multibody-simulation","display_name":"multibody simulation","score":0.9229999780654907},{"id":"https://openalex.org/keywords/computer-animation","display_name":"computer animation","score":0.9470000267028809},{"id":"https://openalex.org/keywords/shock-wave-propagation","display_name":"shock wave propagation","score":0.9010000228881836},{"id":"https://openalex.org/keywords/contact-graphs","display_name":"contact graphs","score":0.984000027179718},{"id":"https://openalex.org/keywords/collision-detection","display_name":"collision detection","score":0.8270000219345093},{"id":"https://openalex.org/keywords/signed-distance-maps","display_name":"signed distance maps","score":0.996999979019165},{"id":"https://openalex.org/keywords/convergence-rate","display_name":"convergence rate","score":0.6290000081062317},{"id":"https://openalex.org/keywords/numerical-error","display_name":"numerical error","score":0.6850000023841858}],"concepts":[{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.6846716403961182},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5716862678527832},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.49913620948791504},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.48054033517837524},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.41513803601264954},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4128410518169403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3944663107395172},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38820913434028625},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.16243892908096313},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11303871870040894},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/778429c0-74be-11db-bee9-02004c4f4f50","doi":null,"is_oa":false,"landing_page_url":"https://researchprofiles.ku.dk/da/publications/778429c0-74be-11db-bee9-02004c4f4f50","pdf_url":null,"source":{"id":"https://openalex.org/S4306401983","display_name":"Research at the University of Copenhagen (University of Copenhagen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I124055696","host_organization_name":"University of Copenhagen","host_organization_lineage":["https://openalex.org/I124055696"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Erleben , K 2005 , ' Stable, Robust, and Versatile Multibody Dynamics Animation ' .","raw_type":"other"},{"id":"mag:43375889","doi":null,"is_oa":false,"landing_page_url":"http://www.forskningsdatabasen.dk/catalog/2398113368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2085897137","https://openalex.org/W2000151369","https://openalex.org/W2234650683","https://openalex.org/W2051102518","https://openalex.org/W1602382704","https://openalex.org/W1514487078","https://openalex.org/W2163862895","https://openalex.org/W1985640101","https://openalex.org/W639693478","https://openalex.org/W3149441033","https://openalex.org/W2159418100","https://openalex.org/W2101161306","https://openalex.org/W2062174770","https://openalex.org/W1979444033","https://openalex.org/W1917027178","https://openalex.org/W2151586077","https://openalex.org/W2121134834","https://openalex.org/W584634945","https://openalex.org/W2004936497","https://openalex.org/W1999447019"],"abstract_inverted_index":{"This":[0],"dissertation":[1,130],"is":[2,76,80,131],"concerned":[3],"with":[4],"the":[5,18,46,104,129,150,157],"theory":[6],"and":[7,12,31,59,73,90,92,119,133,160],"difficulties":[8],"of":[9,20,70,88,95,106,111,128,149,155],"stable,":[10],"robust,":[11],"versatile":[13],"multibody":[14],"dynamics":[15],"simulation":[16,30],"for":[17,62,116,123],"purpose":[19],"computer":[21],"animation.":[22],"The":[23,126],"subjects":[24],"covered":[25],"touch":[26],"many":[27],"aspects":[28],"in":[29,168],"animation":[32],"including":[33],"convergence":[34],"rate,":[35],"numerical":[36],"errors,":[37],"time-stepping,":[38],"error-correction":[39],"et":[40],"cetera.":[41],"From":[42],"an":[43,147],"algorithmic":[44],"viewpoint,":[45],"most":[47],"novel":[48],"contributions":[49],"are":[50],"considered":[51],"to":[52,103,140],"be":[53],"a":[54,60],"velocity-based":[55],"shock-propagation":[56],"time-stepping":[57],"scheme,":[58],"method":[61],"computing":[63],"general":[64],"scripted":[65],"motion.":[66],"A":[67],"formal":[68],"presentation":[69],"contact":[71,120],"graphs":[72],"their":[74],"usage":[75],"given.":[77],"Also":[78],"discussed":[79],"insight":[81],"into":[82],"speed-up":[83],"methods,":[84],"object":[85],"oriented":[86],"design":[87],"constraints,":[89],"optimized":[91],"easy":[93],"implementation":[94,148,154],"iterative":[96],"linear":[97],"complementarity":[98],"problem":[99],"(LCP)":[100],"solvers.":[101],"Contributions":[102],"subject":[105],"collision":[107,117],"detection":[108,118],"include":[109],"improvements":[110],"using":[112],"signed":[113],"distance":[114],"maps":[115],"point":[121],"generation":[122],"box-box":[124],"primitives.":[125],"focus":[127],"technical":[132],"theoretical.":[134],"Great":[135],"effort":[136],"has":[137,163],"been":[138,164],"made":[139,165],"show":[141],"clearly":[142],"how":[143],"one":[144],"should":[145],"approach":[146],"presented":[151,158],"material.":[152],"An":[153],"all":[156],"algorithms":[159],"data":[161],"structures":[162],"publicly":[166],"available":[167],"[113].":[169]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":5}],"updated_date":"2026-10-12T09:40:04.860316","created_date":"2025-10-10T00:00:00"}