{"id":"https://openalex.org/W2141618113","doi":"https://doi.org/10.1109/robot.1985.1087228","title":"Parallelism in manipulator dynamics","display_name":"Parallelism in manipulator dynamics","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2141618113","doi":"https://doi.org/10.1109/robot.1985.1087228","mag":"2141618113"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1985.1087228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087228","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","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/A5110860341","display_name":"R.H. Lathrop","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"R. Lathrop","raw_affiliation_strings":["M.I.T. Artificial Intelligence Laboratory, Cambridge, MA","M.I.T-Artificial Intelligence Laboratory, Cambridge, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"M.I.T. Artificial Intelligence Laboratory, Cambridge, MA","institution_ids":[]},{"raw_affiliation_string":"M.I.T-Artificial Intelligence Laboratory, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5110860341"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":0.6194,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.67692308,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"772","last_page":"778"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.994700014591217,"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/T10904","display_name":"Embedded Systems Design Techniques","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/very-large-scale-integration","display_name":"Very-large-scale integration","score":0.7398461103439331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6764712929725647},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.6440981030464172},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4870641529560089},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4470870792865753},{"id":"https://openalex.org/keywords/newtons-method","display_name":"Newton's method","score":0.42808258533477783},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4148115813732147},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4135453999042511},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.4103025794029236},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23142167925834656},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.22839811444282532},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.1756661832332611}],"concepts":[{"id":"https://openalex.org/C14580979","wikidata":"https://www.wikidata.org/wiki/Q876049","display_name":"Very-large-scale integration","level":2,"score":0.7398461103439331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6764712929725647},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.6440981030464172},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4870641529560089},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4470870792865753},{"id":"https://openalex.org/C85189116","wikidata":"https://www.wikidata.org/wiki/Q374195","display_name":"Newton's method","level":3,"score":0.42808258533477783},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4148115813732147},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4135453999042511},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.4103025794029236},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23142167925834656},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.22839811444282532},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.1756661832332611},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1985.1087228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087228","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W59062349","https://openalex.org/W126560155","https://openalex.org/W1516493184","https://openalex.org/W1558404930","https://openalex.org/W1569867348","https://openalex.org/W1966552874","https://openalex.org/W1973862175","https://openalex.org/W1993740947","https://openalex.org/W2002515014","https://openalex.org/W2004609114","https://openalex.org/W2013815893","https://openalex.org/W2016054718","https://openalex.org/W2017582716","https://openalex.org/W2080017937","https://openalex.org/W2096141213","https://openalex.org/W2117691194","https://openalex.org/W2132294818","https://openalex.org/W2141250450","https://openalex.org/W2144230201","https://openalex.org/W2155081129","https://openalex.org/W2162046045","https://openalex.org/W2246023205","https://openalex.org/W3168095073","https://openalex.org/W6602354975"],"related_works":["https://openalex.org/W4283025278","https://openalex.org/W2082432309","https://openalex.org/W817174743","https://openalex.org/W4254559750","https://openalex.org/W2050492524","https://openalex.org/W2998315020","https://openalex.org/W3016208414","https://openalex.org/W2131199851","https://openalex.org/W2218699221","https://openalex.org/W1996614427"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"two":[3,40],"highly":[4],"parallel":[5,25,49],"\"mathematically":[6],"exact\"":[7],"formulations":[8],"of":[9,27,42,59,62,83],"the":[10,28,35,53,60],"inverse":[11],"Dynamics":[12],"especially":[13],"suited":[14],"to":[15,57,71],"high-speed":[16],"implementations":[17],"using":[18],"VLSI":[19,93],"devices.":[20],"The":[21,44],"first":[22],"is":[23,69,96],"a":[24,47,72,92],"formulation":[26,68],"existing":[29],"linear":[30,54],"recursive":[31],"Newton-Euler":[32],"algorithm,":[33],"with":[34,64],"real-time":[36],"coefficients":[37],"reduced":[38],"almost":[39],"orders":[41],"magnitude.":[43],"second":[45],"reports":[46],"new":[48],"algorithm":[50],"which":[51],"improves":[52],"time":[55],"dependency":[56],"O(log2)":[58],"number":[61],"joints,":[63],"small":[65],"coefficients.":[66],"Either":[67],"susceptible":[70],"systolic":[73],"pipelined":[74],"architecture,":[75],"requiring":[76],"four":[77],"floating-point":[78],"operations":[79],"per":[80],"complete":[81],"set":[82],"joint":[84],"torques.":[85],"Hardware":[86],"requirements":[87],"are":[88],"not":[89],"excessive,":[90],"and":[91],"implementation":[94],"architecture":[95],"possible.":[97]},"counts_by_year":[],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2025-10-10T00:00:00"}
