{"id":"https://openalex.org/W2103641301","doi":"https://doi.org/10.1109/robot.1987.1087851","title":"Modeling impact dynamics for robotic operations","display_name":"Modeling impact dynamics for robotic operations","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2103641301","doi":"https://doi.org/10.1109/robot.1987.1087851","mag":"2103641301"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 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/A5100445388","display_name":"Yu Wang","orcid":"https://orcid.org/0009-0000-8211-1713"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu Wang","raw_affiliation_strings":["Department of Mechanical Engineering and The Robotics Institute, Carnegie-Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and The Robotics Institute, Carnegie-Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002872886","display_name":"Matthew T. Mason","orcid":"https://orcid.org/0000-0002-2672-5689"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Mason","raw_affiliation_strings":["Department of Computer Science and The Robotics Institute, Carnegie-Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and The Robotics Institute, Carnegie-Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":4.3335,"has_fulltext":false,"cited_by_count":79,"citation_normalized_percentile":{"value":0.94538527,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"678","last_page":"685"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9977999925613403,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/impulse","display_name":"Impulse (physics)","score":0.6832948327064514},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6799265146255493},{"id":"https://openalex.org/keywords/collision-response","display_name":"Collision response","score":0.6114580631256104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6001968383789062},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5132670402526855},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.50639808177948},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.48581743240356445},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4697359502315521},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4297119081020355},{"id":"https://openalex.org/keywords/impact","display_name":"Impact","score":0.42707371711730957},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41908830404281616},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.415690153837204},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.3056876063346863},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2567577362060547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21951407194137573},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19359096884727478},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.1675722301006317},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.15158993005752563},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.10404223203659058}],"concepts":[{"id":"https://openalex.org/C70836080","wikidata":"https://www.wikidata.org/wiki/Q837940","display_name":"Impulse (physics)","level":2,"score":0.6832948327064514},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6799265146255493},{"id":"https://openalex.org/C177299277","wikidata":"https://www.wikidata.org/wiki/Q5147505","display_name":"Collision response","level":4,"score":0.6114580631256104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6001968383789062},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5132670402526855},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.50639808177948},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.48581743240356445},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4697359502315521},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4297119081020355},{"id":"https://openalex.org/C199310239","wikidata":"https://www.wikidata.org/wiki/Q4115667","display_name":"Impact","level":2,"score":0.42707371711730957},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41908830404281616},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.415690153837204},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.3056876063346863},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2567577362060547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21951407194137573},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19359096884727478},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.1675722301006317},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.15158993005752563},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.10404223203659058},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.1987.1087851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.998.780","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.998.780","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://repository.cmu.edu/cgi/viewcontent.cgi?article%3D1588%26context%3Drobotics","raw_type":"text"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-74781","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-74781","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W10776118","https://openalex.org/W639693478","https://openalex.org/W777160835","https://openalex.org/W1489844845","https://openalex.org/W1520299410","https://openalex.org/W1778443452","https://openalex.org/W2036919073","https://openalex.org/W2066401364","https://openalex.org/W2078303580","https://openalex.org/W2117096597","https://openalex.org/W2119295207","https://openalex.org/W2504044668","https://openalex.org/W4210762946","https://openalex.org/W4210847857"],"related_works":["https://openalex.org/W2028510469","https://openalex.org/W2140904194","https://openalex.org/W1972217254","https://openalex.org/W2166477876","https://openalex.org/W1493024592","https://openalex.org/W1560130300","https://openalex.org/W2299264840","https://openalex.org/W2738245003","https://openalex.org/W1968872651","https://openalex.org/W4292148905"],"abstract_inverted_index":{"The":[0],"motion":[1,102],"of":[2,34,42,54,67,79,88,95,103],"an":[3,106],"object":[4],"to":[5,14],"be":[6,45],"manipulated":[7],"is":[8,58],"determined":[9],"by":[10],"the":[11,15,29,48,52,64,77,81,85,89,92,100,104,117],"forces":[12,21],"applied":[13],"object.":[16],"During":[17],"a":[18,35,96],"collision,":[19,99],"impulsive":[20],"may":[22],"dominate":[23],"all":[24],"other":[25],"forces,":[26],"and":[27,40,56,70,84,111],"determine":[28],"ultimate":[30],"success":[31],"or":[32],"failure":[33],"task.":[36],"More":[37],"effective":[38],"planning":[39],"control":[41],"manipulators":[43],"should":[44],"possible":[46],"if":[47,112],"impact":[49,66],"process,":[50],"including":[51],"effects":[53],"friction":[55],"elasticity,":[57],"better":[59],"understood.":[60],"This":[61],"paper":[62],"explores":[63],"planar":[65],"two":[68],"objects,":[69],"develops":[71],"simple":[72],"graphical":[73],"methods":[74],"for":[75],"predicting":[76],"mode":[78],"contact,":[80],"total":[82],"impulse,":[83],"resultant":[86],"motions":[87],"objects.":[90],"In":[91],"special":[93],"case":[94],"perfectly":[97],"plastic":[98],"fundamental":[101],"object-whether":[105],"angular":[107],"acceleration":[108],"will":[109],"occur,":[110],"so":[113],"in":[114,121],"what":[115],"direction-is":[116],"same":[118],"as":[119],"predicted":[120],"earlier":[122],"work":[123],"on":[124],"quasi-static":[125],"pushing.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}