{"id":"https://openalex.org/W2006005695","doi":"https://doi.org/10.1007/s10514-011-9226-3","title":"Universally manipulable body models\u2014dual quaternion representations in layered and dynamic MMCs","display_name":"Universally manipulable body models\u2014dual quaternion representations in layered and dynamic MMCs","publication_year":2011,"publication_date":"2011-03-22","ids":{"openalex":"https://openalex.org/W2006005695","doi":"https://doi.org/10.1007/s10514-011-9226-3","mag":"2006005695"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-011-9226-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-011-9226-3","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pub.uni-bielefeld.de/record/1922736","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011185444","display_name":"Malte Schilling","orcid":"https://orcid.org/0000-0002-0849-483X"},"institutions":[{"id":"https://openalex.org/I1297971548","display_name":"International Computer Science Institute","ror":"https://ror.org/01ewh7m12","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1297971548"]},{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]},{"id":"https://openalex.org/I203082224","display_name":"Hochschule Bielefeld","ror":"https://ror.org/00edvg943","country_code":"DE","type":"education","lineage":["https://openalex.org/I203082224"]}],"countries":["DE","US"],"is_corresponding":true,"raw_author_name":"Malte Schilling","raw_affiliation_strings":["Center of Excellence \u2018Cognitive Interaction Technology\u2019 (CITEC), University of Bielefeld, P.O. Box 10 01 31, 33501, Bielefeld, Germany","International Computer Science Institute (ICSI), Berkeley, USA","Center of Excellence 'Cognitive Interaction Technology' (CITEC), University of Bielefeld, P.O. Box 10 01 31, 33501, Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Excellence \u2018Cognitive Interaction Technology\u2019 (CITEC), University of Bielefeld, P.O. Box 10 01 31, 33501, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455","https://openalex.org/I203082224"]},{"raw_affiliation_string":"International Computer Science Institute (ICSI), Berkeley, USA","institution_ids":["https://openalex.org/I1297971548"]},{"raw_affiliation_string":"Center of Excellence 'Cognitive Interaction Technology' (CITEC), University of Bielefeld, P.O. Box 10 01 31, 33501, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011185444"],"corresponding_institution_ids":["https://openalex.org/I1297971548","https://openalex.org/I20121455","https://openalex.org/I203082224"],"apc_list":{"value":3390,"currency":"USD","value_usd":3390},"apc_paid":null,"fwci":2.3908,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.87965589,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"30","issue":"4","first_page":"399","last_page":"425"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9940999746322632,"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/quaternion","display_name":"Quaternion","score":0.7938979864120483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.761701762676239},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6361442804336548},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5679281949996948},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.505587100982666},{"id":"https://openalex.org/keywords/dual-quaternion","display_name":"Dual quaternion","score":0.4796998202800751},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.4740419387817383},{"id":"https://openalex.org/keywords/dual-representation","display_name":"Dual representation","score":0.42368459701538086},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3684441149234772},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3446045517921448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3156803548336029},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25108692049980164},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16785988211631775}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.7938979864120483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.761701762676239},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6361442804336548},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5679281949996948},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.505587100982666},{"id":"https://openalex.org/C145941777","wikidata":"https://www.wikidata.org/wiki/Q5310237","display_name":"Dual quaternion","level":3,"score":0.4796998202800751},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.4740419387817383},{"id":"https://openalex.org/C84750791","wikidata":"https://www.wikidata.org/wiki/Q3427408","display_name":"Dual representation","level":3,"score":0.42368459701538086},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3684441149234772},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3446045517921448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3156803548336029},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25108692049980164},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16785988211631775},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10514-011-9226-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-011-9226-3","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:pub.librecat.org:1922736","is_oa":true,"landing_page_url":"https://pub.uni-bielefeld.de/record/1922736","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Schilling M. Universally manipulable body models \u2013 dual quaternion representations in layered and dynamic MMCs. <em>Autonomous Robots</em>. 2011;30(4):399-425.","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:pub.librecat.org:1922736","is_oa":true,"landing_page_url":"https://pub.uni-bielefeld.de/record/1922736","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Schilling M. Universally manipulable body models \u2013 dual quaternion representations in layered and dynamic MMCs. <em>Autonomous Robots</em>. 2011;30(4):399-425.","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":132,"referenced_works":["https://openalex.org/W42989641","https://openalex.org/W92693235","https://openalex.org/W917429977","https://openalex.org/W1484809412","https://openalex.org/W1485231155","https://openalex.org/W1490482062","https://openalex.org/W1490678064","https://openalex.org/W1518224635","https://openalex.org/W1533349159","https://openalex.org/W1535859182","https://openalex.org/W1545984840","https://openalex.org/W1564897360","https://openalex.org/W1582973729","https://openalex.org/W1598382547","https://openalex.org/W1602991810","https://openalex.org/W1605334561","https://openalex.org/W1652032257","https://openalex.org/W1885639605","https://openalex.org/W1922715780","https://openalex.org/W1950864686","https://openalex.org/W1953317701","https://openalex.org/W1963752509","https://openalex.org/W1968222919","https://openalex.org/W1972242725","https://openalex.org/W1980119849","https://openalex.org/W1982006464","https://openalex.org/W1985511911","https://openalex.org/W1985572391","https://openalex.org/W1989772138","https://openalex.org/W1991152652","https://openalex.org/W1992605616","https://openalex.org/W1992968474","https://openalex.org/W1997318256","https://openalex.org/W1998681247","https://openalex.org/W2001156057","https://openalex.org/W2002880301","https://openalex.org/W2006070652","https://openalex.org/W2021926724","https://openalex.org/W2023015865","https://openalex.org/W2026255777","https://openalex.org/W2032139276","https://openalex.org/W2034388061","https://openalex.org/W2043826503","https://openalex.org/W2051799949","https://openalex.org/W2055174129","https://openalex.org/W2057076716","https://openalex.org/W2060054159","https://openalex.org/W2060277321","https://openalex.org/W2063814807","https://openalex.org/W2064527819","https://openalex.org/W2067440245","https://openalex.org/W2070174786","https://openalex.org/W2071980253","https://openalex.org/W2075801472","https://openalex.org/W2077247990","https://openalex.org/W2078064020","https://openalex.org/W2084145388","https://openalex.org/W2084346734","https://openalex.org/W2084965959","https://openalex.org/W2086970882","https://openalex.org/W2089745666","https://openalex.org/W2090782210","https://openalex.org/W2092895305","https://openalex.org/W2094473404","https://openalex.org/W2097861969","https://openalex.org/W2099202374","https://openalex.org/W2100790457","https://openalex.org/W2103617625","https://openalex.org/W2105209710","https://openalex.org/W2107019937","https://openalex.org/W2109581005","https://openalex.org/W2109812834","https://openalex.org/W2114000612","https://openalex.org/W2114414717","https://openalex.org/W2118426345","https://openalex.org/W2120530757","https://openalex.org/W2121349631","https://openalex.org/W2123786976","https://openalex.org/W2125920898","https://openalex.org/W2126483315","https://openalex.org/W2130012086","https://openalex.org/W2131708731","https://openalex.org/W2133460299","https://openalex.org/W2133588437","https://openalex.org/W2133607347","https://openalex.org/W2136340622","https://openalex.org/W2143691002","https://openalex.org/W2143740992","https://openalex.org/W2146097584","https://openalex.org/W2147774191","https://openalex.org/W2153180314","https://openalex.org/W2155094592","https://openalex.org/W2157869728","https://openalex.org/W2158679981","https://openalex.org/W2159998327","https://openalex.org/W2161584298","https://openalex.org/W2162394534","https://openalex.org/W2164561844","https://openalex.org/W2167175786","https://openalex.org/W2169700848","https://openalex.org/W2179228723","https://openalex.org/W2266946488","https://openalex.org/W2317215606","https://openalex.org/W2324303144","https://openalex.org/W2328685658","https://openalex.org/W2339009915","https://openalex.org/W2397253692","https://openalex.org/W2483390733","https://openalex.org/W2523915674","https://openalex.org/W2586285295","https://openalex.org/W2608239929","https://openalex.org/W2726428977","https://openalex.org/W3110909889","https://openalex.org/W3149614197","https://openalex.org/W3185048480","https://openalex.org/W3207342693","https://openalex.org/W3217246742","https://openalex.org/W4213187341","https://openalex.org/W4241187624","https://openalex.org/W4251881400","https://openalex.org/W4285719527","https://openalex.org/W4291236916","https://openalex.org/W4299830491","https://openalex.org/W4300402905","https://openalex.org/W6629190698","https://openalex.org/W6635706301","https://openalex.org/W6636725810","https://openalex.org/W6664307825","https://openalex.org/W6804482302","https://openalex.org/W6815081229","https://openalex.org/W6837434624","https://openalex.org/W6904982876"],"related_works":["https://openalex.org/W2523915674","https://openalex.org/W2888751871","https://openalex.org/W570369945","https://openalex.org/W3127350447","https://openalex.org/W2185573392","https://openalex.org/W102224637","https://openalex.org/W2315718763","https://openalex.org/W4321633639","https://openalex.org/W4361860244","https://openalex.org/W2043887556"],"abstract_inverted_index":null,"counts_by_year":[{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":8}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}