{"id":"https://openalex.org/W2309132335","doi":"https://doi.org/10.1109/lra.2016.2527830","title":"MBSlib\u2013An Efficient Multibody Systems Library for Kinematics and Dynamics Simulation, Optimization and Sensitivity Analysis","display_name":"MBSlib\u2013An Efficient Multibody Systems Library for Kinematics and Dynamics Simulation, Optimization and Sensitivity Analysis","publication_year":2016,"publication_date":"2016-02-11","ids":{"openalex":"https://openalex.org/W2309132335","doi":"https://doi.org/10.1109/lra.2016.2527830","mag":"2309132335"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2527830","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2527830","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","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/A5088855377","display_name":"Janis Wojtusch","orcid":"https://orcid.org/0000-0002-3851-0247"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Janis Wojtusch","raw_affiliation_strings":["Simulation, Systems Optimization and Robotics Group (SIM), Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simulation, Systems Optimization and Robotics Group (SIM), Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016602334","display_name":"J\u00fcrgen Dipl.-Inform. Kunz","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jurgen Kunz","raw_affiliation_strings":["Simulation, Systems Optimization and Robotics Group (SIM), Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simulation, Systems Optimization and Robotics Group (SIM), Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014799780","display_name":"Oskar von Stryk","orcid":"https://orcid.org/0000-0002-2790-6115"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oskar von Stryk","raw_affiliation_strings":["Simulation, Systems Optimization and Robotics Group (SIM), Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simulation, Systems Optimization and Robotics Group (SIM), Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":1.0526,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.77865265,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":"2","first_page":"954","last_page":"960"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994000196456909,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994000196456909,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/multibody-system","display_name":"Multibody system","score":0.8217996954917908},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7898194193840027},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.718873143196106},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7151800394058228},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.6168159246444702},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5210922956466675},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5184804797172546},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.5115348100662231},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4723949134349823},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47206762433052063},{"id":"https://openalex.org/keywords/modeling-and-simulation","display_name":"Modeling and simulation","score":0.42897915840148926},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4268786907196045},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4132879972457886},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2834227681159973},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18778347969055176},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13935309648513794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11845245957374573},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.10740956664085388}],"concepts":[{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.8217996954917908},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7898194193840027},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.718873143196106},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7151800394058228},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.6168159246444702},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5210922956466675},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5184804797172546},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.5115348100662231},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4723949134349823},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47206762433052063},{"id":"https://openalex.org/C167343916","wikidata":"https://www.wikidata.org/wiki/Q6888384","display_name":"Modeling and simulation","level":2,"score":0.42897915840148926},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4268786907196045},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4132879972457886},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2834227681159973},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18778347969055176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13935309648513794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11845245957374573},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.10740956664085388},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2016.2527830","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2527830","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:98964","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/98964/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Artikel"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G3030841659","display_name":null,"funder_award_id":"STR533/8-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"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":22,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1966552874","https://openalex.org/W1977278088","https://openalex.org/W1990152902","https://openalex.org/W2000535285","https://openalex.org/W2004609114","https://openalex.org/W2033380343","https://openalex.org/W2073820751","https://openalex.org/W2084891258","https://openalex.org/W2113265921","https://openalex.org/W2139758438","https://openalex.org/W2144351850","https://openalex.org/W2154491567","https://openalex.org/W2160382929","https://openalex.org/W2166868339","https://openalex.org/W2203630559","https://openalex.org/W2246023205","https://openalex.org/W2496722619","https://openalex.org/W2505330894","https://openalex.org/W4211003818","https://openalex.org/W4301014524","https://openalex.org/W7065155401"],"related_works":["https://openalex.org/W2376802003","https://openalex.org/W2054002217","https://openalex.org/W2179388855","https://openalex.org/W1984730251","https://openalex.org/W2003788495","https://openalex.org/W2951020105","https://openalex.org/W1995243476","https://openalex.org/W3088154243","https://openalex.org/W3133495666","https://openalex.org/W2968012318"],"abstract_inverted_index":{"The":[0,127],"dynamic":[1],"behavior":[2],"of":[3,25,52,95,123],"many":[4,23,155],"technical":[5,156],"and":[6,13,31,41,61,69,73,131,146,150,157],"biomechanical":[7,158],"systems":[8,19,34,64],"can":[9,115,132],"be":[10,116,133],"modeled,":[11],"simulated":[12],"optimized":[14],"by":[15],"using":[16],"a":[17,143],"multibody":[18,33,63],"approach.":[20],"Systems":[21],"with":[22,97,109],"degrees":[24],"freedom":[26],"typically":[27],"result":[28],"in":[29],"complex":[30],"high-dimensional":[32],"models":[35],"that":[36],"necessitate":[37],"capable":[38],"modeling":[39,82],"approaches":[40],"efficient":[42,60,87],"computational":[43,88],"algorithms":[44,89],"as":[45,47,90,92],"well":[46,91],"impede":[48],"the":[49,59,93,113,120,136],"numerical":[50,121],"solution":[51,122],"related":[53],"optimization":[54,72,111,124,151],"problems.":[55],"In":[56,107],"this":[57],"paper,":[58],"modular":[62,84],"library":[65,128,152],"MBSlib":[66,78,137,142],"for":[67,154],"kinematics":[68],"dynamics":[70],"simulation,":[71],"sensitivity":[74],"analysis":[75],"is":[76,129],"presented.":[77],"provides":[79],"an":[80],"intuitive":[81],"interface,":[83],"software":[85],"architecture,":[86],"computation":[94],"derivatives":[96,114],"respect":[98],"to":[99,118],"system":[100],"states,":[101],"control":[102],"variables":[103],"or":[104],"model":[105],"parameters.":[106],"combination":[108],"gradient-based":[110],"methods,":[112],"used":[117],"facilitate":[119],"problems":[125],"significantly.":[126],"open":[130],"obtained":[134],"from":[135],"website.":[138],"These":[139],"features":[140],"make":[141],"powerful,":[144],"flexible,":[145],"lightweight":[147],"modeling,":[148],"simulation":[149],"suitable":[153],"applications.":[159]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
