{"id":"https://openalex.org/W4410358719","doi":"https://doi.org/10.1109/lra.2025.3570131","title":"Quasi-Static Cosserat Rods in Contact With Implicit Surfaces","display_name":"Quasi-Static Cosserat Rods in Contact With Implicit Surfaces","publication_year":2025,"publication_date":"2025-05-14","ids":{"openalex":"https://openalex.org/W4410358719","doi":"https://doi.org/10.1109/lra.2025.3570131"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3570131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3570131","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://hal.science/hal-05062860","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093479787","display_name":"Radhouane Jilani","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Radhouane Jilani","raw_affiliation_strings":["Université de Lorraine, CNRS, Inria, LORIA, Nancy, France"],"affiliations":[{"raw_affiliation_string":"Université de Lorraine, CNRS, Inria, LORIA, Nancy, France","institution_ids":["https://openalex.org/I4210121838","https://openalex.org/I1294671590","https://openalex.org/I90183372"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057847672","display_name":"Pierre-Fr\u00e9d\u00e9ric Villard","orcid":"https://orcid.org/0000-0002-9476-0902"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pierre-Fr\u00e9d\u00e9ric Villard","raw_affiliation_strings":["Université de Lorraine, CNRS, Inria, LORIA, Nancy, France"],"affiliations":[{"raw_affiliation_string":"Université de Lorraine, CNRS, Inria, LORIA, Nancy, France","institution_ids":["https://openalex.org/I4210121838","https://openalex.org/I1294671590","https://openalex.org/I90183372"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073632869","display_name":"Erwan Kerrien","orcid":"https://orcid.org/0000-0001-5517-2967"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Erwan Kerrien","raw_affiliation_strings":["Université de Lorraine, CNRS, Inria, LORIA, Nancy, France"],"affiliations":[{"raw_affiliation_string":"Université de Lorraine, CNRS, Inria, LORIA, Nancy, France","institution_ids":["https://openalex.org/I4210121838","https://openalex.org/I1294671590","https://openalex.org/I90183372"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5093479787"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210121838","https://openalex.org/I90183372"],"apc_list":null,"apc_paid":null,"fwci":0.8682,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.69358019,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"10","issue":"7","first_page":"6536","last_page":"6543"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T11062","display_name":"Gear and Bearing Dynamics Analysis","score":0.9973999857902527,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.993399977684021,"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/rod","display_name":"Rod","score":0.796257495880127},{"id":"https://openalex.org/keywords/static-friction","display_name":"Static friction","score":0.5348336696624756},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.42723196744918823},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.385481059551239},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.3276790380477905},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2171432375907898}],"concepts":[{"id":"https://openalex.org/C162184086","wikidata":"https://www.wikidata.org/wiki/Q505544","display_name":"Rod","level":3,"score":0.796257495880127},{"id":"https://openalex.org/C2987713562","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Static friction","level":2,"score":0.5348336696624756},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.42723196744918823},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.385481059551239},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.3276790380477905},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2171432375907898},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3570131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3570131","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:HAL:hal-05062860v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05062860","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.ieee.org","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-05062860v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05062860","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.ieee.org","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2064622479","https://openalex.org/W2091439137","https://openalex.org/W2149659501","https://openalex.org/W2532741729","https://openalex.org/W2564818611","https://openalex.org/W2608821927","https://openalex.org/W2768594011","https://openalex.org/W2807959585","https://openalex.org/W2890010576","https://openalex.org/W2942096073","https://openalex.org/W2993799976","https://openalex.org/W3131250362","https://openalex.org/W4311958976","https://openalex.org/W4313639260","https://openalex.org/W4315649248","https://openalex.org/W4389665329","https://openalex.org/W4390120170","https://openalex.org/W4394564175","https://openalex.org/W4404309967"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W4404995717","https://openalex.org/W2016187641","https://openalex.org/W4404725684","https://openalex.org/W4246450666","https://openalex.org/W4388998267","https://openalex.org/W4409278740","https://openalex.org/W2898370298","https://openalex.org/W4410118003","https://openalex.org/W4295864157"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2],"method":[3,76],"for":[4],"the":[5,18,23,37,41,49,56,63,71,74,95],"quasi-static":[6,24],"solution":[7],"of":[8,40,55,65,73,91,97],"Cosserat":[9],"rods":[10],"in":[11,77,85],"contact":[12,60,79],"with":[13],"implicit":[14,45,66],"surfaces.":[15],"By":[16],"leveraging":[17],"strain":[19],"parameterization":[20],"reduction":[21],"approach,":[22],"evolution":[25],"is":[26,102],"computed":[27],"by":[28,88],"solving":[29],"an":[30],"ordinary":[31],"differential":[32],"equation":[33],"(ODE).":[34],"To":[35],"address":[36],"inherent":[38],"stiffness":[39],"ODE,":[42],"we":[43],"employ":[44],"solvers":[46],"and":[47,104],"derive":[48],"Jacobian":[50],"matrix":[51],"analytically.":[52],"The":[53],"smoothness":[54],"functions":[57],"defining":[58],"our":[59],"surfaces":[61],"enables":[62],"use":[64,96],"solvers.":[67,99],"Numerical":[68],"results":[69],"show":[70],"stability":[72],"proposed":[75],"challenging":[78],"scenarios,":[80],"as":[81,83],"well":[82],"improvements":[84],"computational":[86],"time":[87],"two":[89],"orders":[90],"magnitude":[92],"compared":[93],"to":[94],"explicit":[98],"Our":[100],"implementation":[101],"open-source":[103],"can":[105],"be":[106],"found":[107],"at":[108],"gitlab.inria.fr/rjilani/ral2024.":[109]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}