{"id":"https://openalex.org/W2520548949","doi":"https://doi.org/10.1007/978-3-030-43089-4_23","title":"A Linear-Time Variational Integrator for Multibody Systems","display_name":"A Linear-Time Variational Integrator for Multibody Systems","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W2520548949","doi":"https://doi.org/10.1007/978-3-030-43089-4_23","mag":"2520548949"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-43089-4_23","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-43089-4_23","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":"book-chapter","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1609.02898","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040307009","display_name":"Jeong-Seok Lee","orcid":"https://orcid.org/0000-0003-0467-6430"},"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":false,"raw_author_name":"Jeongseok Lee","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, USA","Carnegie Mellon University, Pittsburgh, USA\u2028"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, USA\u2028","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037730257","display_name":"C. Karen Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Karen Liu","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, USA",", Georgia Institute of Technology, Atlanta, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":", Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009036246","display_name":"Frank C. Park","orcid":"https://orcid.org/0000-0002-0293-6975"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Frank C. Park","raw_affiliation_strings":["Seoul National University, Seoul, Korea","Seoul National University, Seoul Korea#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Seoul National University, Seoul Korea#TAB#","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"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":false,"raw_author_name":"Siddhartha S. Srinivasa","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, USA","Carnegie Mellon University, Pittsburgh, USA\u2028"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, USA\u2028","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.5985,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.9440211,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"352","last_page":"367"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13286","display_name":"Modeling and Simulation Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T13286","display_name":"Modeling and Simulation Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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":0.9973999857902527,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9958999752998352,"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/variational-integrator","display_name":"Variational integrator","score":0.781079113483429},{"id":"https://openalex.org/keywords/multibody-system","display_name":"Multibody system","score":0.7348974347114563},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.4956308603286743},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"Equations of motion","score":0.48604923486709595},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.46930578351020813},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4602043330669403},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.458565354347229},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.43491220474243164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4347992241382599},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40421897172927856},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3424147665500641},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.132157564163208},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10184860229492188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08799746632575989}],"concepts":[{"id":"https://openalex.org/C52154503","wikidata":"https://www.wikidata.org/wiki/Q7915797","display_name":"Variational integrator","level":4,"score":0.781079113483429},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.7348974347114563},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.4956308603286743},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.48604923486709595},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.46930578351020813},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4602043330669403},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.458565354347229},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.43491220474243164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4347992241382599},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40421897172927856},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3424147665500641},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.132157564163208},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10184860229492188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08799746632575989},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/978-3-030-43089-4_23","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-43089-4_23","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:1609.02898","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1609.02898","pdf_url":"https://arxiv.org/pdf/1609.02898","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":"","raw_type":"text"},{"id":"mag:2520548949","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1609.02898.pdf","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":"doi:10.48550/arxiv.1609.02898","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1609.02898","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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1609.02898","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1609.02898","pdf_url":"https://arxiv.org/pdf/1609.02898","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":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.46000000834465027,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W992210956","https://openalex.org/W1538183267","https://openalex.org/W1564897360","https://openalex.org/W1966552874","https://openalex.org/W1977822596","https://openalex.org/W1997251742","https://openalex.org/W1999447019","https://openalex.org/W1999726309","https://openalex.org/W2095782953","https://openalex.org/W2101341777","https://openalex.org/W2111805435","https://openalex.org/W2119135605","https://openalex.org/W2136621952","https://openalex.org/W2170039048","https://openalex.org/W2288947144","https://openalex.org/W2512432267","https://openalex.org/W2963433675","https://openalex.org/W4214568587"],"related_works":["https://openalex.org/W2904273011","https://openalex.org/W1976043959","https://openalex.org/W2755614437","https://openalex.org/W2111805435","https://openalex.org/W3208444560","https://openalex.org/W2091236291","https://openalex.org/W2072472911","https://openalex.org/W2412131954","https://openalex.org/W143530628","https://openalex.org/W3188819966","https://openalex.org/W2096932164","https://openalex.org/W2383986925","https://openalex.org/W2170039048","https://openalex.org/W2062388571","https://openalex.org/W106780552","https://openalex.org/W3191398452","https://openalex.org/W2082154485","https://openalex.org/W2367991584","https://openalex.org/W2905808123","https://openalex.org/W626498877"],"abstract_inverted_index":null,"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}