{"id":"https://openalex.org/W2059408607","doi":"https://doi.org/10.1002/rob.4620020307","title":"Mathematical modeling of a robot collision with its environment","display_name":"Mathematical modeling of a robot collision with its environment","publication_year":1985,"publication_date":"1985-09-01","ids":{"openalex":"https://openalex.org/W2059408607","doi":"https://doi.org/10.1002/rob.4620020307","mag":"2059408607"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620020307","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620020307","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"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/A5103509707","display_name":"Yuan\u2010Fang Zheng","orcid":"https://orcid.org/0009-0002-3290-5149"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yuan\u2010Fang Zheng","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, South Carolina 29631","Department of Electrical and Computer Engineering, Clemson University, Clemson, South Carolina 29631#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, South Carolina 29631","institution_ids":["https://openalex.org/I8078737"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, South Carolina 29631#TAB#","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003134681","display_name":"H. Hemami","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hooshang Hemami","raw_affiliation_strings":["Department of Electrical Engineering, The Ohio State University, Columbus, Ohio 43210","Department of Electrical Engineering, The Ohio State University, Columbus, Ohio 43210#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, The Ohio State University, Columbus, Ohio 43210","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Department of Electrical Engineering, The Ohio State University, Columbus, Ohio 43210#TAB#","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103509707"],"corresponding_institution_ids":["https://openalex.org/I8078737"],"apc_list":null,"apc_paid":null,"fwci":3.1472,"has_fulltext":false,"cited_by_count":204,"citation_normalized_percentile":{"value":0.91249036,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2","issue":"3","first_page":"289","last_page":"307"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"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/collision","display_name":"Collision","score":0.8979299664497375},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6369472146034241},{"id":"https://openalex.org/keywords/relative-velocity","display_name":"Relative velocity","score":0.5576653480529785},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5502054691314697},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5445705652236938},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5351527333259583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4958074986934662},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4801320731639862},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4703018069267273},{"id":"https://openalex.org/keywords/internal-forces","display_name":"Internal forces","score":0.46432584524154663},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4639100432395935},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46341460943222046},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4540484845638275},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4471205472946167},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4373576045036316},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4300512671470642},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.4159421920776367},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3381294310092926},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2832335829734802},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2545824646949768},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.24453580379486084},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23812294006347656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15565741062164307},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13226816058158875},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11711439490318298},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10319390892982483}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.8979299664497375},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6369472146034241},{"id":"https://openalex.org/C56498450","wikidata":"https://www.wikidata.org/wiki/Q1376323","display_name":"Relative velocity","level":2,"score":0.5576653480529785},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5502054691314697},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5445705652236938},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5351527333259583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4958074986934662},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4801320731639862},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4703018069267273},{"id":"https://openalex.org/C2986502102","wikidata":"https://www.wikidata.org/wiki/Q4291900","display_name":"Internal forces","level":2,"score":0.46432584524154663},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4639100432395935},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46341460943222046},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4540484845638275},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4471205472946167},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4373576045036316},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4300512671470642},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.4159421920776367},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3381294310092926},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2832335829734802},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2545824646949768},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.24453580379486084},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23812294006347656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15565741062164307},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13226816058158875},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11711439490318298},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10319390892982483},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620020307","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620020307","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W623068178","https://openalex.org/W1582353822","https://openalex.org/W2036919073","https://openalex.org/W2058109925","https://openalex.org/W2062452560","https://openalex.org/W2086756762","https://openalex.org/W2090528612","https://openalex.org/W2102642497","https://openalex.org/W2126112236","https://openalex.org/W2141825555","https://openalex.org/W2163178194"],"related_works":["https://openalex.org/W129737916","https://openalex.org/W4226385867","https://openalex.org/W2966461000","https://openalex.org/W4223569781","https://openalex.org/W841410736","https://openalex.org/W2167648512","https://openalex.org/W4235896340","https://openalex.org/W2612781909","https://openalex.org/W3004667746","https://openalex.org/W573486021"],"abstract_inverted_index":{"Abstract":[0],"In":[1,14],"this":[2,85],"article":[3],"the":[4,27,30,35,38,47,53,57,67,72,81,89,92,105,109,113,119,135,143,157,165,187,190],"collision":[5,22,43,191],"of":[6,17,26,29,40,52,69,91,108,112,126,134,162,189],"a":[7,18,21,153,173],"robot":[8,19],"with":[9,71],"its":[10,183],"environment":[11],"is":[12,77,96,148],"studied.":[13],"normal":[15],"applications":[16],"arm,":[20],"takes":[23],"place":[24],"because":[25,133],"velocity":[28,111],"end":[31,184],"effector":[32],"relative":[33],"to":[34,79,118,142,151,172,177],"object":[36,181],"at":[37,66,130],"time":[39],"contract.":[41],"The":[42,74,94,145],"has":[44],"effects":[45],"on":[46],"velocities":[48,59],"and":[49,88,124,160,164,186],"internal":[50,117],"forces":[51,123,159],"robotic":[54],"system.":[55,144],"Firstly,":[56],"generalized":[58],"representing":[60],"joint":[61,132],"rates":[62],"have":[63],"abrupt":[64,86],"changes":[65],"moment":[68],"collison":[70],"environment.":[73],"mathematical":[75,146],"model":[76,147],"derived":[78,150],"establish":[80,152],"quantitative":[82,154],"relationship":[83],"between":[84,156],"change":[87,107],"severity":[90],"collision.":[93,136,166],"latter":[95],"represented":[97],"by":[98,182],"either":[99],"an":[100,180],"external":[101],"impulsive":[102,122,158],"force":[103],"or":[104],"instantaneous":[106],"linear":[110],"contact":[114],"point.":[115],"Secondly,":[116],"system,":[120],"large":[121],"torques":[125],"constraint":[127,163],"may":[128],"develop":[129],"each":[131],"These":[137,167],"impulses":[138],"cause":[139],"possible":[140],"damages":[141],"also":[149],"relation":[155],"torquest":[161],"two":[168],"models":[169],"are":[170,192],"applied":[171],"Stanford":[174],"Arm":[175],"designed":[176],"pick":[178],"up":[179],"effector,":[185],"consequences":[188],"analyzed.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":5}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
