{"id":"https://openalex.org/W2119585557","doi":"https://doi.org/10.1109/iros.2004.1390007","title":"Geometric numerical integration algorithms for articulated multi-body systems","display_name":"Geometric numerical integration algorithms for articulated multi-body systems","publication_year":2005,"publication_date":"2005-04-12","ids":{"openalex":"https://openalex.org/W2119585557","doi":"https://doi.org/10.1109/iros.2004.1390007","mag":"2119585557"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1390007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1390007","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101407470","display_name":"Jonghoon Park","orcid":"https://orcid.org/0000-0002-0971-3002"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jonghoon Park","raw_affiliation_strings":["School of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","Sch. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Sch. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020648634","display_name":"Wan Kyun Chung","orcid":"https://orcid.org/0000-0003-2715-5320"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wan-Kyun Chung","raw_affiliation_strings":["School of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","Sch. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Sch. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062772405","display_name":"Youngil Youm","orcid":null},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngil Youm","raw_affiliation_strings":["School of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","Sch. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Sch. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea","institution_ids":["https://openalex.org/I123900574"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I123900574"],"apc_list":null,"apc_paid":null,"fwci":1.5304,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.86332574,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"3803","last_page":"3808"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11416","display_name":"Numerical methods for differential equations","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11416","display_name":"Numerical methods for differential equations","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"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":0.9898999929428101,"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/T13286","display_name":"Modeling and Simulation Systems","score":0.9846000075340271,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lie-group","display_name":"Lie group","score":0.7099724411964417},{"id":"https://openalex.org/keywords/numerical-integration","display_name":"Numerical integration","score":0.5856531858444214},{"id":"https://openalex.org/keywords/euclidean-group","display_name":"Euclidean group","score":0.48212671279907227},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.4666082262992859},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.45163071155548096},{"id":"https://openalex.org/keywords/group","display_name":"Group (periodic table)","score":0.43820708990097046},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.437676340341568},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4370192289352417},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.4311516582965851},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.4300718605518341},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4245813488960266},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.4172408878803253},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.30485090613365173},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.24529117345809937},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1731068193912506},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1095406711101532}],"concepts":[{"id":"https://openalex.org/C187915474","wikidata":"https://www.wikidata.org/wiki/Q622679","display_name":"Lie group","level":2,"score":0.7099724411964417},{"id":"https://openalex.org/C127349201","wikidata":"https://www.wikidata.org/wiki/Q753445","display_name":"Numerical integration","level":2,"score":0.5856531858444214},{"id":"https://openalex.org/C19939924","wikidata":"https://www.wikidata.org/wiki/Q852195","display_name":"Euclidean group","level":4,"score":0.48212671279907227},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.4666082262992859},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.45163071155548096},{"id":"https://openalex.org/C2781311116","wikidata":"https://www.wikidata.org/wiki/Q83306","display_name":"Group (periodic table)","level":2,"score":0.43820708990097046},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.437676340341568},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4370192289352417},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.4311516582965851},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.4300718605518341},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4245813488960266},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.4172408878803253},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.30485090613365173},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.24529117345809937},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1731068193912506},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1095406711101532},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.0},{"id":"https://openalex.org/C173110770","wikidata":"https://www.wikidata.org/wiki/Q382698","display_name":"Affine space","level":3,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1390007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1390007","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W639693478","https://openalex.org/W1544770838","https://openalex.org/W1555233889","https://openalex.org/W1564897360","https://openalex.org/W1571385833","https://openalex.org/W1578793200","https://openalex.org/W2042388195","https://openalex.org/W2043827472","https://openalex.org/W2061356302","https://openalex.org/W2071355416","https://openalex.org/W2073320255","https://openalex.org/W2138475942","https://openalex.org/W2151249889","https://openalex.org/W2168771200","https://openalex.org/W2170039048","https://openalex.org/W4255586250"],"related_works":["https://openalex.org/W162935960","https://openalex.org/W2569138714","https://openalex.org/W2507681057","https://openalex.org/W3085884790","https://openalex.org/W3203300910","https://openalex.org/W128474030","https://openalex.org/W1980425727","https://openalex.org/W1671761402","https://openalex.org/W1565649910","https://openalex.org/W4213279081"],"abstract_inverted_index":{"Numerical":[0,78],"integration":[1,66],"methods":[2,56,83],"based":[3],"on":[4,69],"Lie":[5,35],"group":[6,25,36],"theoretic":[7],"geometrical":[8],"approaches":[9],"are":[10,43],"extended":[11],"to":[12,21],"articulated":[13,51],"multi-body":[14,52],"systems":[15],"with":[16],"rigid":[17],"body":[18],"displacements":[19],"belonging":[20],"the":[22,46,61,65,70,75,82],"special":[23],"Euclidean":[24],"SE":[26],"(3)":[27],"as":[28],"a":[29],"part":[30],"of":[31,48],"generalized":[32],"coordinate.":[33],"Two":[34],"integrators,":[37],"Crouch-Grossman":[38],"method":[39],"and":[40,87],"Munthe-Kaas":[41],"method,":[42,63],"formulated":[44],"for":[45,50],"equation":[47],"motion":[49],"systems.":[53],"The":[54],"proposed":[55],"provide":[57],"singularity-free":[58],"integration,":[59],"unlike":[60,74],"Euler-angle":[62],"while":[64],"always":[67],"evolves":[68],"underlying":[71],"manifold":[72],"structure,":[73],"quarternion":[76],"method.":[77],"simulation":[79],"result":[80],"validates":[81],"by":[84],"checking":[85],"energy":[86],"momentum":[88],"conservation":[89],"at":[90],"even":[91],"integrated":[92],"system":[93],"state.":[94]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}