{"id":"https://openalex.org/W2000053384","doi":"https://doi.org/10.1002/rob.4620040404","title":"Customized computational robot dynamics","display_name":"Customized computational robot dynamics","publication_year":1987,"publication_date":"1987-08-01","ids":{"openalex":"https://openalex.org/W2000053384","doi":"https://doi.org/10.1002/rob.4620040404","mag":"2000053384"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620040404","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040404","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/A5113587628","display_name":"Charles P. Neuman","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Charles P. Neuman","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008274168","display_name":"J. Murray","orcid":"https://orcid.org/0000-0003-3590-6593"},"institutions":[{"id":"https://openalex.org/I4401726780","display_name":"Martin Marietta Materials (United States)","ror":"https://ror.org/00n16p182","country_code":null,"type":"company","lineage":["https://openalex.org/I4401726780"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John J. Murray","raw_affiliation_strings":["Martin Marietta Baltimore Aerospace, Baltimore, Maryland 21220"],"affiliations":[{"raw_affiliation_string":"Martin Marietta Baltimore Aerospace, Baltimore, Maryland 21220","institution_ids":["https://openalex.org/I4401726780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5113587628"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":7.2333,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.97209026,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":"4","first_page":"503","last_page":"526"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9966999888420105,"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":0.9941999912261963,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.8592334985733032},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6344340443611145},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6279741525650024},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.6148082613945007},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5856128931045532},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5622666478157043},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.48689523339271545},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.44513896107673645},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41781607270240784},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32271498441696167},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3219698667526245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2717834711074829},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2249716818332672},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.18536439538002014},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13840535283088684},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1064276397228241},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06396222114562988}],"concepts":[{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.8592334985733032},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6344340443611145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6279741525650024},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.6148082613945007},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5856128931045532},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5622666478157043},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.48689523339271545},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.44513896107673645},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41781607270240784},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32271498441696167},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3219698667526245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2717834711074829},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2249716818332672},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.18536439538002014},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13840535283088684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1064276397228241},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06396222114562988},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620040404","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040404","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W807573521","https://openalex.org/W823573760","https://openalex.org/W1005941455","https://openalex.org/W1538726406","https://openalex.org/W1556795538","https://openalex.org/W1569867348","https://openalex.org/W1582353822","https://openalex.org/W1960413537","https://openalex.org/W1966552874","https://openalex.org/W1968892573","https://openalex.org/W1977764543","https://openalex.org/W1983716668","https://openalex.org/W2002515014","https://openalex.org/W2004609114","https://openalex.org/W2006466397","https://openalex.org/W2034338228","https://openalex.org/W2044546890","https://openalex.org/W2073123784","https://openalex.org/W2080017937","https://openalex.org/W2080305188","https://openalex.org/W2084891258","https://openalex.org/W2092044770","https://openalex.org/W2116526726","https://openalex.org/W2124819853","https://openalex.org/W2132294818","https://openalex.org/W2133454961","https://openalex.org/W2134357662","https://openalex.org/W2141250450","https://openalex.org/W2141618113","https://openalex.org/W2142615420","https://openalex.org/W2149302813","https://openalex.org/W2166944291","https://openalex.org/W2168823059","https://openalex.org/W2229152681","https://openalex.org/W2246023205","https://openalex.org/W2514585481","https://openalex.org/W2623660146"],"related_works":["https://openalex.org/W2270864633","https://openalex.org/W400207537","https://openalex.org/W1487930919","https://openalex.org/W1974966543","https://openalex.org/W2550974801","https://openalex.org/W2218699221","https://openalex.org/W4205272379","https://openalex.org/W1996614427","https://openalex.org/W1519970984","https://openalex.org/W2184783674"],"abstract_inverted_index":{"Abstract":[0],"In":[1,136],"1983":[2],"the":[3,6,34,43,55,84,109,143],"authors":[4],"implemented":[5],"computer":[7],"program":[8],"Algebraic":[9],"Robot":[10],"Modeler":[11],"(ARM)":[12],"to":[13,41],"generate":[14],"symbolically":[15],"complete":[16],"closed\u2010form":[17,62,81,153],"and":[18,49,63,66,72,91,114,154],"recursive":[19,64,106,155],"dynamic":[20,38],"robot":[21,39,148],"models.":[22,156],"1\u20133":[23],"Then,":[24],"in":[25,29,123],"1985,":[26],"we":[27,141],"incorporated":[28],"ARM":[30],"heuristic":[31],"rules":[32],"for":[33,70,151],"systematic":[35],"organization":[36],"of":[37,46,57,60,89,94,146],"models":[40],"reduce":[42],"computational":[44],"requirements":[45],"customized":[47,61,80,105],"forward":[48,65,90],"inverse":[50,67,92,115,118],"dynamics":[51,68,93,116,119,149],"calculations.":[52],"We":[53,76],"resolve":[54],"issue":[56],"numerical":[58],"efficiency":[59],"algorithms":[69,82,107],"kinematically":[71],"dynamically":[73],"structured":[74],"manipulators.":[75,97],"find":[77],"that":[78],"ARM\u2010generated":[79,104],"are":[83,108],"most":[85,110],"computationally":[86,111],"efficient":[87,112],"calculators":[88],"three":[95],"degree\u2010of\u2010freedom":[96],"For":[98],"six":[99,147],"DOF":[100],"predominantly":[101],"rotational":[102],"manipulators,":[103],"foward":[113],"algorithms;":[117],"can":[120],"be":[121],"computed":[122],"less":[124],"than":[125],"one":[126],"millisecond":[127],"on":[128],"commercially\u2010available":[129],"processors":[130],"(in":[131],"software,":[132],"without":[133],"special\u2010purpose":[134],"hardware).":[135],"our":[137],"companion":[138],"article,":[139],"4":[140],"compare":[142],"symbolic":[144],"efficiencies":[145],"formulations":[150],"generating":[152]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}