{"id":"https://openalex.org/W2211016660","doi":"https://doi.org/10.1109/iros.2015.7354160","title":"A recursive Newton-Euler algorithm for robots with elastic joints and its application to control","display_name":"A recursive Newton-Euler algorithm for robots with elastic joints and its application to control","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2211016660","doi":"https://doi.org/10.1109/iros.2015.7354160","mag":"2211016660"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354160","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":"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/A5063505429","display_name":"Gabriele Buondonno","orcid":"https://orcid.org/0000-0003-4598-4448"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Gabriele Buondonno","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica Automatica e Gestionale, Sapienza Universita di Roma, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica Automatica e Gestionale, Sapienza Universita di Roma, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049914116","display_name":"Alessandro De Luca","orcid":"https://orcid.org/0000-0002-0713-5608"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro De Luca","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica Automatica e Gestionale, Sapienza Universita di Roma, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica Automatica e Gestionale, Sapienza Universita di Roma, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5063505429"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":3.7474,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.93485169,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5526","last_page":"5532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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/algorithm","display_name":"Algorithm","score":0.7228645086288452},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.6657792329788208},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5265386700630188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5063151121139526},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4706769585609436},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.4581853449344635},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41667982935905457},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.41402700543403625},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36009103059768677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19082045555114746},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.16778689622879028},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.15397104620933533},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.13749420642852783}],"concepts":[{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.7228645086288452},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.6657792329788208},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5265386700630188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5063151121139526},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4706769585609436},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.4581853449344635},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41667982935905457},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.41402700543403625},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36009103059768677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19082045555114746},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.16778689622879028},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.15397104620933533},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.13749420642852783},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2015.7354160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354160","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.700.1757","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.700.1757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.diag.uniroma1.it/%7Elabrob/pub/papers/IROS15_EJNEA_2132.pdf","raw_type":"text"},{"id":"pmh:oai:iris.uniroma1.it:11573/850572","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/850572","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W189803804","https://openalex.org/W639693478","https://openalex.org/W1523815250","https://openalex.org/W1966552874","https://openalex.org/W1995090200","https://openalex.org/W2004609114","https://openalex.org/W2005872133","https://openalex.org/W2066202893","https://openalex.org/W2068027769","https://openalex.org/W2084891258","https://openalex.org/W2099915711","https://openalex.org/W2105984753","https://openalex.org/W2111253117","https://openalex.org/W2116821415","https://openalex.org/W2131245153","https://openalex.org/W2135569231","https://openalex.org/W2155286978","https://openalex.org/W2155415241","https://openalex.org/W4240801863","https://openalex.org/W6652005118","https://openalex.org/W6675251542"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,6,31,58,72,82,135],"problem":[3],"of":[4,9,30,52,60,71,131,138],"computing":[5],"inverse":[7],"dynamics":[8],"a":[10,19,27,68,89,102],"serial":[11],"robot":[12],"manipulator":[13],"with":[14,37],"N":[15,137],"elastic":[16,83,139],"joints":[17,140],"in":[18,81],"recursive":[20],"numerical":[21,69],"way.":[22],"The":[23,98,112],"solution":[24],"algorithm":[25,66],"is":[26],"generalized":[28],"version":[29],"standard":[32],"Newton-Euler":[33],"approach,":[34],"running":[35],"still":[36],"linear":[38],"complexity":[39,103],"O(N)":[40],"but":[41],"requiring":[42],"to":[43,78,118],"set":[44],"up":[45],"recursions":[46],"that":[47,104],"involve":[48],"higher":[49],"order":[50],"derivatives":[51],"motion":[53],"and":[54,67,120,127],"force":[55],"variables.":[56],"Mimicking":[57],"case":[59],"rigid":[61],"robots,":[62],"we":[63],"use":[64],"this":[65],"factorization":[70],"link":[73],"inertia":[74],"matrix":[75],"(which":[76],"needs":[77],"be":[79],"inverted":[80],"joint":[84],"case)":[85],"for":[86,94],"implementing":[87],"on-line":[88],"feedback":[90],"linearization":[91],"control":[92],"law":[93],"trajectory":[95],"tracking":[96],"purposes.":[97],"complete":[99],"method":[100],"has":[101],"grows":[105],"as":[106],"O(N":[107],"<sup":[108],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[109],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>":[110],").":[111],"developed":[113],"tools":[114],"are":[115],"generic,":[116],"easy":[117],"use,":[119],"do":[121],"not":[122],"require":[123],"symbolic":[124],"Lagrangian":[125],"modeling":[126],"customization,":[128],"thus":[129],"being":[130],"particular":[132],"interest":[133],"when":[134],"number":[136],"becomes":[141],"large.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}