{"id":"https://openalex.org/W2202057586","doi":"https://doi.org/10.1109/iros.2015.7354137","title":"Computational modeling of N-body collisions","display_name":"Computational modeling of N-body collisions","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2202057586","doi":"https://doi.org/10.1109/iros.2015.7354137","mag":"2202057586"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100369583","display_name":"Feifei Wang","orcid":"https://orcid.org/0000-0001-8502-966X"},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Feifei Wang","raw_affiliation_strings":["Department of Computer Science, Iowa State University, Ames, IA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Iowa State University, Ames, IA, USA","institution_ids":["https://openalex.org/I173911158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077166611","display_name":"Huan Lin","orcid":"https://orcid.org/0000-0002-6475-0842"},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huan Lin","raw_affiliation_strings":["Department of Computer Science, Iowa State University, Ames, IA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Iowa State University, Ames, IA, USA","institution_ids":["https://openalex.org/I173911158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020782518","display_name":"Yan-Bin Jia","orcid":"https://orcid.org/0000-0002-0384-6058"},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan-Bin Jia","raw_affiliation_strings":["Department of Computer Science, Iowa State University, Ames, IA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Iowa State University, Ames, IA, USA","institution_ids":["https://openalex.org/I173911158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I173911158"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5376","last_page":"5381"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11699","display_name":"High-Velocity Impact and Material Behavior","score":0.9865000247955322,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11699","display_name":"High-Velocity Impact and Material Behavior","score":0.9865000247955322,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9785000085830688,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9750000238418579,"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/impulse","display_name":"Impulse (physics)","score":0.6958315372467041},{"id":"https://openalex.org/keywords/collision-response","display_name":"Collision response","score":0.5775747299194336},{"id":"https://openalex.org/keywords/coulomb-friction","display_name":"Coulomb friction","score":0.5521655082702637},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.551240861415863},{"id":"https://openalex.org/keywords/coulomb","display_name":"Coulomb","score":0.5037035346031189},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4912211298942566},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48143598437309265},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.47724342346191406},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.4593949019908905},{"id":"https://openalex.org/keywords/coulombs-law","display_name":"Coulomb's law","score":0.4569459855556488},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4514840245246887},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4163038730621338},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4072447717189789},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.2827932834625244},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2717663049697876},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22817397117614746},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15699002146720886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12117579579353333},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.11571308970451355},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09922027587890625}],"concepts":[{"id":"https://openalex.org/C70836080","wikidata":"https://www.wikidata.org/wiki/Q837940","display_name":"Impulse (physics)","level":2,"score":0.6958315372467041},{"id":"https://openalex.org/C177299277","wikidata":"https://www.wikidata.org/wiki/Q5147505","display_name":"Collision response","level":4,"score":0.5775747299194336},{"id":"https://openalex.org/C2986328948","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Coulomb friction","level":3,"score":0.5521655082702637},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.551240861415863},{"id":"https://openalex.org/C9342510","wikidata":"https://www.wikidata.org/wiki/Q25406","display_name":"Coulomb","level":3,"score":0.5037035346031189},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4912211298942566},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48143598437309265},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.47724342346191406},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.4593949019908905},{"id":"https://openalex.org/C193874036","wikidata":"https://www.wikidata.org/wiki/Q83152","display_name":"Coulomb's law","level":4,"score":0.4569459855556488},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4514840245246887},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4163038730621338},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4072447717189789},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.2827932834625244},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2717663049697876},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22817397117614746},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15699002146720886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12117579579353333},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11571308970451355},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09922027587890625},{"id":"https://openalex.org/C147120987","wikidata":"https://www.wikidata.org/wiki/Q2225","display_name":"Electron","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7354137","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320311090","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78"},{"id":"https://openalex.org/F4320313643","display_name":"Iowa Science Foundation","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1559129264","https://openalex.org/W1763866531","https://openalex.org/W1983240434","https://openalex.org/W2023845476","https://openalex.org/W2026275073","https://openalex.org/W2059546105","https://openalex.org/W2091626090","https://openalex.org/W2105240734","https://openalex.org/W2134801739","https://openalex.org/W2148011943","https://openalex.org/W2151738341","https://openalex.org/W2158002784","https://openalex.org/W2161974659","https://openalex.org/W2164944168","https://openalex.org/W2241122444","https://openalex.org/W3022984997","https://openalex.org/W4206139699"],"related_works":["https://openalex.org/W2015205059","https://openalex.org/W2905699064","https://openalex.org/W2120288161","https://openalex.org/W2341894045","https://openalex.org/W4247203118","https://openalex.org/W3204099251","https://openalex.org/W2609485453","https://openalex.org/W2007677977","https://openalex.org/W202138117","https://openalex.org/W2884689911"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"impulse-based":[4],"model":[5],"for":[6,71,104],"n-body":[7],"collisions":[8],"with":[9,52,75],"or":[10],"without":[11],"friction.":[12],"In":[13],"the":[14,20],"frictionless":[15],"case,":[16],"impulses":[17],"at":[18],"all":[19],"contacts,":[21],"initialized":[22],"via":[23,63],"solution":[24,64],"of":[25,56,65,80,99],"a":[26,49,59,66,86],"non-linear":[27],"system,":[28],"accumulate":[29],"over":[30,41],"different":[31],"phases":[32],"(compression":[33],"and":[34],"restitution)":[35],"tracked":[36],"through":[37],"numerical":[38],"integration.":[39],"Experiment":[40],"Newton's":[42],"cradle,":[43],"using":[44,108],"vision-based":[45],"velocity":[46],"estimation,":[47],"achieves":[48],"close":[50],"agreement":[51],"simulation.":[53],"The":[54,94],"presence":[55],"friction":[57,77],"requires":[58],"contact":[60,72],"mode":[61,73],"analysis":[62],"linear":[67],"system":[68],"to":[69],"check":[70],"consistencies":[74],"Coulomb's":[76],"law.":[78],"Simulation":[79],"nine-ball":[81],"break":[82],"shots,":[83],"drawing":[84],"upon":[85],"recent":[87],"trajectory":[88],"study":[89],"[6],":[90],"yields":[91],"realistic":[92],"scenarios.":[93],"modeling":[95],"approach":[96],"is":[97],"part":[98],"our":[100],"efforts":[101],"toward":[102],"planning":[103],"robotic":[105],"manipulation":[106],"strategies":[107],"impulsive":[109],"forces.":[110]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
