{"id":"https://openalex.org/W2766398089","doi":"https://doi.org/10.1007/978-3-030-28619-4_41","title":"Fundamental Limitations in Performance and Interpretability of Common Planar Rigid-Body Contact Models","display_name":"Fundamental Limitations in Performance and Interpretability of Common Planar Rigid-Body Contact Models","publication_year":2019,"publication_date":"2019-11-27","ids":{"openalex":"https://openalex.org/W2766398089","doi":"https://doi.org/10.1007/978-3-030-28619-4_41","mag":"2766398089"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-28619-4_41","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-28619-4_41","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1710.04979","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031338070","display_name":"Nima Fazeli","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nima Fazeli","raw_affiliation_strings":["Mechanical Engineering Department, MIT, Cambridge, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, MIT, Cambridge, USA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066733413","display_name":"Samuel Zapolsky","orcid":null},"institutions":[{"id":"https://openalex.org/I917207718","display_name":"Toyota Industries (United States)","ror":"https://ror.org/0132ebr60","country_code":"US","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210145315","https://openalex.org/I917207718"]},{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel Zapolsky","raw_affiliation_strings":["Toyota Research Institute, Los Altos, CA, USA","[Toyota Research Institute, Los Altos, USA]"],"affiliations":[{"raw_affiliation_string":"Toyota Research Institute, Los Altos, CA, USA","institution_ids":["https://openalex.org/I917207718","https://openalex.org/I4391768151"]},{"raw_affiliation_string":"[Toyota Research Institute, Los Altos, USA]","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049448053","display_name":"Evan Drumwright","orcid":null},"institutions":[{"id":"https://openalex.org/I917207718","display_name":"Toyota Industries (United States)","ror":"https://ror.org/0132ebr60","country_code":"US","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210145315","https://openalex.org/I917207718"]},{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evan Drumwright","raw_affiliation_strings":["Toyota Research Institute, Los Altos, CA, USA","[Toyota Research Institute, Los Altos, USA]"],"affiliations":[{"raw_affiliation_string":"Toyota Research Institute, Los Altos, CA, USA","institution_ids":["https://openalex.org/I917207718","https://openalex.org/I4391768151"]},{"raw_affiliation_string":"[Toyota Research Institute, Los Altos, USA]","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100657503","display_name":"Alberto Rodr\u00edguez","orcid":"https://orcid.org/0000-0002-1119-4512"},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alberto Rodriguez","raw_affiliation_strings":["Mechanical Engineering Department, MIT, Cambridge, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, MIT, Cambridge, USA","institution_ids":["https://openalex.org/I4210110987"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031338070"],"corresponding_institution_ids":["https://openalex.org/I4210110987"],"apc_list":null,"apc_paid":null,"fwci":10.403,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.98898274,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"555","last_page":"571"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9991999864578247,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9991999864578247,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983000159263611,"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":0.9965000152587891,"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/interpretability","display_name":"Interpretability","score":0.9060817360877991},{"id":"https://openalex.org/keywords/simplicity","display_name":"Simplicity","score":0.7345001697540283},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.6498562097549438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.612869143486023},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6002135276794434},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5252679586410522},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5142421126365662},{"id":"https://openalex.org/keywords/interpretation","display_name":"Interpretation (philosophy)","score":0.4459715485572815},{"id":"https://openalex.org/keywords/outcome","display_name":"Outcome (game theory)","score":0.4362122714519501},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.41283711791038513},{"id":"https://openalex.org/keywords/empirical-modelling","display_name":"Empirical modelling","score":0.4105531871318817},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40316087007522583},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3282333016395569},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18925374746322632},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.15243607759475708},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.148952454328537}],"concepts":[{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.9060817360877991},{"id":"https://openalex.org/C2776372474","wikidata":"https://www.wikidata.org/wiki/Q508291","display_name":"Simplicity","level":2,"score":0.7345001697540283},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.6498562097549438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.612869143486023},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6002135276794434},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5252679586410522},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5142421126365662},{"id":"https://openalex.org/C527412718","wikidata":"https://www.wikidata.org/wiki/Q855395","display_name":"Interpretation (philosophy)","level":2,"score":0.4459715485572815},{"id":"https://openalex.org/C148220186","wikidata":"https://www.wikidata.org/wiki/Q7111912","display_name":"Outcome (game theory)","level":2,"score":0.4362122714519501},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.41283711791038513},{"id":"https://openalex.org/C133199616","wikidata":"https://www.wikidata.org/wiki/Q25386885","display_name":"Empirical modelling","level":2,"score":0.4105531871318817},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40316087007522583},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3282333016395569},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18925374746322632},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.15243607759475708},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.148952454328537},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","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},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1007/978-3-030-28619-4_41","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-28619-4_41","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},{"id":"pmh:oai:arXiv.org:1710.04979","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1710.04979","pdf_url":"https://arxiv.org/pdf/1710.04979","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2766398089","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1710.04979","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:dspace.mit.edu:1721.1/139604.2","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/139604.2","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/ConferencePaper"},{"id":"doi:10.48550/arxiv.1710.04979","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1710.04979","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1710.04979","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1710.04979","pdf_url":"https://arxiv.org/pdf/1710.04979","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5099999904632568,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W144167358","https://openalex.org/W154144259","https://openalex.org/W1198461769","https://openalex.org/W1514487078","https://openalex.org/W1557098279","https://openalex.org/W1590190533","https://openalex.org/W1602382704","https://openalex.org/W1889580255","https://openalex.org/W1968100378","https://openalex.org/W1982576877","https://openalex.org/W1984563958","https://openalex.org/W2029294123","https://openalex.org/W2034825286","https://openalex.org/W2040973163","https://openalex.org/W2056731056","https://openalex.org/W2067573049","https://openalex.org/W2083483041","https://openalex.org/W2085897137","https://openalex.org/W2101340954","https://openalex.org/W2149854669","https://openalex.org/W2158928443","https://openalex.org/W2163862895","https://openalex.org/W2336902217","https://openalex.org/W2557928321","https://openalex.org/W2599113582","https://openalex.org/W2738364320","https://openalex.org/W2739317817","https://openalex.org/W2963030226","https://openalex.org/W3138088265"],"related_works":["https://openalex.org/W3021314260","https://openalex.org/W2963030226","https://openalex.org/W2101340954","https://openalex.org/W2963892386","https://openalex.org/W2599113582","https://openalex.org/W2029294123","https://openalex.org/W2019681680","https://openalex.org/W2910744956","https://openalex.org/W2315651343","https://openalex.org/W2081780905","https://openalex.org/W2980892740","https://openalex.org/W145692318","https://openalex.org/W3121253582","https://openalex.org/W198604986","https://openalex.org/W2108981908","https://openalex.org/W2242472099","https://openalex.org/W3172974245","https://openalex.org/W3161319529","https://openalex.org/W3165512555","https://openalex.org/W2226251180"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}