{"id":"https://openalex.org/W2094459500","doi":"https://doi.org/10.1007/bf00435725","title":"Parallel computation of the inertia matrix of a tree type robot using one directional recursion of Newton-Euler formulation","display_name":"Parallel computation of the inertia matrix of a tree type robot using one directional recursion of Newton-Euler formulation","publication_year":1996,"publication_date":"1996-01-01","ids":{"openalex":"https://openalex.org/W2094459500","doi":"https://doi.org/10.1007/bf00435725","mag":"2094459500"},"language":"en","primary_location":{"id":"doi:10.1007/bf00435725","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf00435725","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and 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/A5045058157","display_name":"H.J. Pu","orcid":"https://orcid.org/0009-0002-9989-3744"},"institutions":[{"id":"https://openalex.org/I167360494","display_name":"University of Wuppertal","ror":"https://ror.org/00613ak93","country_code":"DE","type":"education","lineage":["https://openalex.org/I167360494"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. J. Pu","raw_affiliation_strings":["Group of Automatic Control and Technical Cybernetics, University of Wuppertal, 42097, Wuppertal, Germany","Group of Automatic Control and Technical Cybernetics, University of Wuppertal, Wuppertal, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Group of Automatic Control and Technical Cybernetics, University of Wuppertal, 42097, Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]},{"raw_affiliation_string":"Group of Automatic Control and Technical Cybernetics, University of Wuppertal, Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110160220","display_name":"M. M\ufffdller","orcid":null},"institutions":[{"id":"https://openalex.org/I167360494","display_name":"University of Wuppertal","ror":"https://ror.org/00613ak93","country_code":"DE","type":"education","lineage":["https://openalex.org/I167360494"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. M\ufffdller","raw_affiliation_strings":["Group of Automatic Control and Technical Cybernetics, University of Wuppertal, Wuppertal, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Group of Automatic Control and Technical Cybernetics, University of Wuppertal, Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040537120","display_name":"\u00c9lcio Abdalla","orcid":"https://orcid.org/0000-0002-9814-1690"},"institutions":[{"id":"https://openalex.org/I84058292","display_name":"Helwan University","ror":"https://ror.org/00h55v928","country_code":"EG","type":"education","lineage":["https://openalex.org/I84058292"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"E. Abdalla","raw_affiliation_strings":["University of Helwan, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Helwan, Egypt","institution_ids":["https://openalex.org/I84058292"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025806173","display_name":"L. Abdelatif","orcid":null},"institutions":[{"id":"https://openalex.org/I84058292","display_name":"Helwan University","ror":"https://ror.org/00h55v928","country_code":"EG","type":"education","lineage":["https://openalex.org/I84058292"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"L. Abdelatif","raw_affiliation_strings":["University of Helwan, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Helwan, Egypt","institution_ids":["https://openalex.org/I84058292"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078762419","display_name":"E. Bark","orcid":null},"institutions":[{"id":"https://openalex.org/I84058292","display_name":"Helwan University","ror":"https://ror.org/00h55v928","country_code":"EG","type":"education","lineage":["https://openalex.org/I84058292"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"E. Bark","raw_affiliation_strings":["University of Helwan, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Helwan, Egypt","institution_ids":["https://openalex.org/I84058292"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109366618","display_name":"H.A. Nour Eldin","orcid":null},"institutions":[{"id":"https://openalex.org/I167360494","display_name":"University of Wuppertal","ror":"https://ror.org/00613ak93","country_code":"DE","type":"education","lineage":["https://openalex.org/I167360494"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"H. A. Nour Eldin","raw_affiliation_strings":["Group of Automatic Control and Technical Cybernetics, University of Wuppertal, 42097, Wuppertal, Germany","Group of Automatic Control and Technical Cybernetics, University of Wuppertal, Wuppertal, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Group of Automatic Control and Technical Cybernetics, University of Wuppertal, 42097, Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]},{"raw_affiliation_string":"Group of Automatic Control and Technical Cybernetics, University of Wuppertal, Wuppertal, Germany","institution_ids":["https://openalex.org/I167360494"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5109366618"],"corresponding_institution_ids":["https://openalex.org/I167360494"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.2294547,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"15","issue":"1","first_page":"33","last_page":"39"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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":0.9994000196456909,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9973000288009644,"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/recursion","display_name":"Recursion (computer science)","score":0.7173523306846619},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6963875889778137},{"id":"https://openalex.org/keywords/type","display_name":"Type (biology)","score":0.5935696959495544},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5891213417053223},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.559608519077301},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.5110967755317688},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.5042566061019897},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4529125690460205},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43174445629119873},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37543919682502747},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3373548984527588},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.32594072818756104},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.21687504649162292},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1918196976184845},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.15949642658233643},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.0672224760055542}],"concepts":[{"id":"https://openalex.org/C168773036","wikidata":"https://www.wikidata.org/wiki/Q264164","display_name":"Recursion (computer science)","level":2,"score":0.7173523306846619},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6963875889778137},{"id":"https://openalex.org/C2777299769","wikidata":"https://www.wikidata.org/wiki/Q3707858","display_name":"Type (biology)","level":2,"score":0.5935696959495544},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5891213417053223},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.559608519077301},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.5110967755317688},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.5042566061019897},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4529125690460205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43174445629119873},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37543919682502747},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3373548984527588},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.32594072818756104},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.21687504649162292},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1918196976184845},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.15949642658233643},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0672224760055542},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/bf00435725","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf00435725","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1966552874","https://openalex.org/W1969131673","https://openalex.org/W1970673766","https://openalex.org/W2004609114","https://openalex.org/W2111974149","https://openalex.org/W2121501130","https://openalex.org/W2148292699"],"related_works":["https://openalex.org/W3009256916","https://openalex.org/W4234131606","https://openalex.org/W292582153","https://openalex.org/W1974141195","https://openalex.org/W1968954906","https://openalex.org/W2358227862","https://openalex.org/W2316612812","https://openalex.org/W2004546183","https://openalex.org/W2154675749","https://openalex.org/W2268084029"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}