{"id":"https://openalex.org/W3043334992","doi":"https://doi.org/10.1109/lra.2020.3010204","title":"Model-Based Coupling for Co-Simulation of Robotic Contact Tasks","display_name":"Model-Based Coupling for Co-Simulation of Robotic Contact Tasks","publication_year":2020,"publication_date":"2020-07-17","ids":{"openalex":"https://openalex.org/W3043334992","doi":"https://doi.org/10.1109/lra.2020.3010204","mag":"3043334992"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3010204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010204","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":true,"oa_status":"green","oa_url":"https://ruc.udc.es/dspace/bitstream/2183/30397/2/PeiretAlbert_2020_ModelBasedCoupling_Cosimulation.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029558416","display_name":"Albert Peiret","orcid":"https://orcid.org/0000-0003-0693-8297"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Albert Peiret","raw_affiliation_strings":["Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Montr\u00e9al, Canada","Department of Mechanical Engineering, and Centre For Intelligent Machines, McGill University, Montreal, Canada"],"raw_orcid":"https://orcid.org/0000-0003-0693-8297","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Montr\u00e9al, Canada","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Department of Mechanical Engineering, and Centre For Intelligent Machines, McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084992752","display_name":"Francisco Gonz\u00e1lez","orcid":"https://orcid.org/0000-0003-0187-7990"},"institutions":[{"id":"https://openalex.org/I11019714","display_name":"Universidade da Coru\u00f1a","ror":"https://ror.org/01qckj285","country_code":"ES","type":"education","lineage":["https://openalex.org/I11019714"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francisco Gonzalez","raw_affiliation_strings":["Laboratorio de Ingenier\u00eda Mec\u00e1nica, University of A Coru\u00f1a, Ferrol, Spain"],"raw_orcid":"https://orcid.org/0000-0003-0187-7990","affiliations":[{"raw_affiliation_string":"Laboratorio de Ingenier\u00eda Mec\u00e1nica, University of A Coru\u00f1a, Ferrol, Spain","institution_ids":["https://openalex.org/I11019714"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111626268","display_name":"J\u00f3zsef K\u00f6vecses","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jozsef Kovecses","raw_affiliation_strings":["Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Montr\u00e9al, Canada","Department of Mechanical Engineering, and Centre For Intelligent Machines, McGill University, Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Montr\u00e9al, Canada","institution_ids":["https://openalex.org/I5023651"]},{"raw_affiliation_string":"Department of Mechanical Engineering, and Centre For Intelligent Machines, McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043880698","display_name":"Marek Teichmann","orcid":"https://orcid.org/0000-0002-4380-4477"},"institutions":[{"id":"https://openalex.org/I4210089541","display_name":"CM Labs Simulations (Canada)","ror":"https://ror.org/00cqb7125","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210089541"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Marek Teichmann","raw_affiliation_strings":["CM Labs Simulations, Montr\u00e9al, Canada","[CM Labs Simulations, Montr\u00e9al, Canada]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CM Labs Simulations, Montr\u00e9al, Canada","institution_ids":["https://openalex.org/I4210089541"]},{"raw_affiliation_string":"[CM Labs Simulations, Montr\u00e9al, Canada]","institution_ids":["https://openalex.org/I4210089541"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083206179","display_name":"Andreas Enzenhoefer","orcid":"https://orcid.org/0000-0002-0126-5620"},"institutions":[{"id":"https://openalex.org/I4210089541","display_name":"CM Labs Simulations (Canada)","ror":"https://ror.org/00cqb7125","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210089541"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Andreas Enzenhoefer","raw_affiliation_strings":["CM Labs Simulations, Montr\u00e9al, Canada","[CM Labs Simulations, Montr\u00e9al, Canada]"],"raw_orcid":"https://orcid.org/0000-0002-0126-5620","affiliations":[{"raw_affiliation_string":"CM Labs Simulations, Montr\u00e9al, Canada","institution_ids":["https://openalex.org/I4210089541"]},{"raw_affiliation_string":"[CM Labs Simulations, Montr\u00e9al, Canada]","institution_ids":["https://openalex.org/I4210089541"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3119,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.80102741,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"5","issue":"4","first_page":"5756","last_page":"5763"},"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9962000250816345,"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/coupling","display_name":"Coupling (piping)","score":0.7391176223754883},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7250876426696777},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.6955846548080444},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6767129302024841},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6181368231773376},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5679097175598145},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.557216465473175},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48064056038856506},{"id":"https://openalex.org/keywords/iterative-and-incremental-development","display_name":"Iterative and incremental development","score":0.46339112520217896},{"id":"https://openalex.org/keywords/co-simulation","display_name":"Co-simulation","score":0.4570910334587097},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4512535333633423},{"id":"https://openalex.org/keywords/hardware-in-the-loop-simulation","display_name":"Hardware-in-the-loop simulation","score":0.4358890950679779},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4281691908836365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42592957615852356},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3575844168663025},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.324629008769989},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17403504252433777},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16536885499954224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15922480821609497},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0864676833152771}],"concepts":[{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.7391176223754883},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7250876426696777},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.6955846548080444},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6767129302024841},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6181368231773376},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5679097175598145},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.557216465473175},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48064056038856506},{"id":"https://openalex.org/C143587482","wikidata":"https://www.wikidata.org/wiki/Q1543216","display_name":"Iterative and incremental development","level":2,"score":0.46339112520217896},{"id":"https://openalex.org/C2780974030","wikidata":"https://www.wikidata.org/wiki/Q16951926","display_name":"Co-simulation","level":2,"score":0.4570910334587097},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4512535333633423},{"id":"https://openalex.org/C70587628","wikidata":"https://www.wikidata.org/wiki/Q1142371","display_name":"Hardware-in-the-loop simulation","level":2,"score":0.4358890950679779},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4281691908836365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42592957615852356},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3575844168663025},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.324629008769989},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17403504252433777},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16536885499954224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15922480821609497},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0864676833152771},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"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/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.3010204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010204","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:ruc.udc.es:2183/30397","is_oa":true,"landing_page_url":"http://hdl.handle.net/2183/30397","pdf_url":"https://ruc.udc.es/dspace/bitstream/2183/30397/2/PeiretAlbert_2020_ModelBasedCoupling_Cosimulation.pdf","source":{"id":"https://openalex.org/S4306402204","display_name":"RUC (Universidade Da Coru\u00f1a)","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/article"}],"best_oa_location":{"id":"pmh:oai:ruc.udc.es:2183/30397","is_oa":true,"landing_page_url":"http://hdl.handle.net/2183/30397","pdf_url":"https://ruc.udc.es/dspace/bitstream/2183/30397/2/PeiretAlbert_2020_ModelBasedCoupling_Cosimulation.pdf","source":{"id":"https://openalex.org/S4306402204","display_name":"RUC (Universidade Da Coru\u00f1a)","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/article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3043334992.pdf","grobid_xml":"https://content.openalex.org/works/W3043334992.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W169948756","https://openalex.org/W1116666713","https://openalex.org/W1503226155","https://openalex.org/W1514487078","https://openalex.org/W1971956848","https://openalex.org/W1974990824","https://openalex.org/W2007677977","https://openalex.org/W2012473770","https://openalex.org/W2041434319","https://openalex.org/W2041543127","https://openalex.org/W2053030156","https://openalex.org/W2066379939","https://openalex.org/W2085897137","https://openalex.org/W2093832227","https://openalex.org/W2096119914","https://openalex.org/W2097863277","https://openalex.org/W2098934630","https://openalex.org/W2104883910","https://openalex.org/W2151313505","https://openalex.org/W2500753416","https://openalex.org/W2593063709","https://openalex.org/W2803466996","https://openalex.org/W2896131647","https://openalex.org/W2973141195","https://openalex.org/W2981241579","https://openalex.org/W3001499018"],"related_works":["https://openalex.org/W2795705457","https://openalex.org/W3088770487","https://openalex.org/W2974555619","https://openalex.org/W2905171467","https://openalex.org/W2132549814","https://openalex.org/W2129248935","https://openalex.org/W3181426603","https://openalex.org/W2899066594","https://openalex.org/W2069124136","https://openalex.org/W2382907995"],"abstract_inverted_index":{"Co-simulation":[0],"of":[1,39,57,77,103,117,134,137],"complex":[2],"robotic":[3,139],"systems":[4,93],"allows":[5,153],"the":[6,27,37,64,100,104,118],"different":[7],"components":[8],"to":[9,20,63],"be":[10,123],"modeled":[11],"and":[12,17,23,32,51,53,66,74,108,127,145,166],"simulated":[13],"independently":[14],"using":[15,113],"methods":[16],"tools":[18],"tailored":[19],"their":[21,130],"nature":[22],"time-scale,":[24],"which":[25,120],"makes":[26],"implementation":[28],"process":[29],"more":[30],"modular":[31],"flexible.":[33],"Some":[34],"applications":[35],"require":[36],"use":[38],"non-iterative":[40,58],"coupling":[41,152,165],"schemes":[42,59],"for":[43,87,154],"optimal":[44],"performance,":[45],"such":[46,142],"as":[47,143],"real-time":[48],"interactive":[49],"environments":[50],"human":[52],"hardware-in-the-loop":[54],"setups.":[55],"Stability":[56],"is":[60,70,80],"challenging":[61,138],"due":[62],"restricted":[65],"delayed":[67],"information":[68,90],"that":[69,150],"exchanged":[71,124],"between":[72,91,125],"subsystems,":[73],"robust":[75],"prediction":[76],"interface":[78,101,159],"variables":[79],"key.":[81],"Here,":[82],"we":[83],"propose":[84],"a":[85,114],"framework":[86],"exchanging":[88],"model":[89],"mechanical":[92],"with":[94,147,157],"contact,":[95],"where":[96],"reduced-order":[97],"models":[98],"approximate":[99],"dynamics":[102],"subsystems.":[105],"Effective":[106],"mass":[107],"force":[109],"terms":[110],"are":[111],"formulated":[112],"reduced":[115],"representation":[116],"model,":[119],"can":[121],"then":[122],"subsystems":[126],"integrated":[128],"in":[129,163],"simulation.":[131],"The":[132],"analysis":[133],"several":[135],"simulations":[136],"contact":[140],"tasks,":[141],"grasping":[144],"insertion":[146],"jamming,":[148],"shows":[149],"model-based":[151],"stable":[155],"co-simulation":[156],"larger":[158],"stiffness":[160],"values,":[161],"resulting":[162],"stronger":[164],"higher":[167],"simulation":[168],"accuracy.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
