{"id":"https://openalex.org/W2030661036","doi":"https://doi.org/10.1109/robot.2004.1308084","title":"An efficient dynamic modeling methodology for general type of hybrid robotic systems","display_name":"An efficient dynamic modeling methodology for general type of hybrid robotic systems","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2030661036","doi":"https://doi.org/10.1109/robot.2004.1308084","mag":"2030661036"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1308084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308084","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-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/A5012362947","display_name":"Goo Bong Chung","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Goo Bong Chung","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Hanyang University, Ansan, Gyeonggi, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Hanyang University, Ansan, Gyeonggi, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112558760","display_name":"Byung-Ju Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byung-Ju Yi","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Hanyang University, Ansan, Gyeonggi, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Hanyang University, Ansan, Gyeonggi, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101636225","display_name":"Dong Jin Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong Jin Lim","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Hanyang University, Ansan, Gyeonggi, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Hanyang University, Ansan, Gyeonggi, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112441505","display_name":"Whee-Kuk Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wheekuk Kim","raw_affiliation_strings":["Department of Control and Instrumenfation Engineering, Korea University, ChungNam, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Control and Instrumenfation Engineering, Korea University, ChungNam, South Korea","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012362947"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":2.6077,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.89556643,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1795","last_page":"1802 Vol.2"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9988999962806702,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9958000183105469,"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/computer-science","display_name":"Computer science","score":0.7203283309936523},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5999219417572021},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5634708404541016},{"id":"https://openalex.org/keywords/hybrid-system","display_name":"Hybrid system","score":0.5371537804603577},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5208428502082825},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.45668095350265503},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4358586072921753},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.42100846767425537},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.4138833284378052},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41140276193618774},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27376869320869446},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23041796684265137},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19248169660568237},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1263701617717743},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12517637014389038}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7203283309936523},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5999219417572021},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5634708404541016},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.5371537804603577},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5208428502082825},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.45668095350265503},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4358586072921753},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.42100846767425537},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4138833284378052},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41140276193618774},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27376869320869446},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23041796684265137},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19248169660568237},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1263701617717743},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12517637014389038},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1308084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308084","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1595578376","https://openalex.org/W2004609114","https://openalex.org/W2049006588","https://openalex.org/W2059184519","https://openalex.org/W2098815764","https://openalex.org/W2102642497","https://openalex.org/W6635574734"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069","https://openalex.org/W2075639008","https://openalex.org/W2109573574"],"abstract_inverted_index":{"In":[0,94],"this":[1],"paper,":[2],"we":[3,83],"deal":[4],"with":[5,108],"the":[6,54,57,67,73,77,95,99,117,120,126,135,149,155,160,164,168,173,186,192,195,201,206,210],"kinematic":[7],"and":[8,22,115,191,209],"dynamic":[9,40,64,87,183],"modeling":[10,41,65,88],"of":[11,20,27,42,56,76,102,104,119,128,137,140,152,162,170,185,194,204],"hybrid":[12,43,91,121,179],"robotic":[13,44,92],"systems":[14],"that":[15,131],"are":[16,106,132,145],"constructed":[17],"by":[18,199],"combination":[19],"parallel":[21,28],"serial":[23],"modules":[24,105,166],"or":[25],"series":[26],"modules.":[29],"Up":[30],"to":[31,110,134,147,158,172],"now,":[32],"open-tree":[33],"structure":[34,79],"has":[35],"been":[36],"generally":[37],"employed":[38],"for":[39,66,90],"systems.":[45,93],"However,":[46],"it":[47],"requires":[48],"not":[49],"only":[50],"expensive":[51],"computation":[52],"as":[53],"complexity":[55],"system":[58],"increases,":[59],"but":[60],"also":[61],"must":[62],"perform":[63],"whole":[68],"manipulator":[69],"again":[70],"even":[71],"if":[72],"partial":[74],"portion":[75],"robot":[78,122],"is":[80,123,189,197],"changed.":[81],"Therefore,":[82],"propose":[84],"an":[85],"efficient":[86],"methodology":[89],"proposed":[96,187,207],"method,":[97],"initially":[98],"local":[100],"dynamics":[101,118],"each":[103,138],"obtained":[107],"respect":[109],"its":[111],"independent":[112],"joint":[113],"coordinates":[114],"then":[116],"calculated":[124],"utilizing":[125],"concept":[127],"virtual":[129,143],"joints":[130,144],"attached":[133],"base":[136],"module":[139,169],"interest":[141,171],"The":[142],"assigned":[146],"have":[148],"appropriate":[150],"number":[151],"DOFs":[153],"in":[154],"operational":[156],"space":[157],"represent":[159],"motion":[161],"all":[163],"proximal":[165],"from":[167],"ground.":[174],"For":[175],"general":[176],"multiple":[177],"module-based":[178],"robots,":[180],"a":[181],"recursive":[182],"formulation":[184],"method":[188,196,208],"derived":[190],"usefulness":[193],"verified":[198],"comparing":[200],"computational":[202],"efficiency":[203],"both":[205],"existing":[211],"method.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
