{"id":"https://openalex.org/W2161152728","doi":"https://doi.org/10.1109/robot.2004.1308751","title":"A modular dynamic simulation algorithm for complex robot systems","display_name":"A modular dynamic simulation algorithm for complex robot systems","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2161152728","doi":"https://doi.org/10.1109/robot.2004.1308751","mag":"2161152728"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1308751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308751","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":"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/A5067255354","display_name":"C.S. Bonaventura","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"C.S. Bonaventura","raw_affiliation_strings":["ZETA-TECH Associates, Inc., Cherry Hill, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ZETA-TECH Associates, Inc., Cherry Hill, NJ, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043343531","display_name":"Kathryn Jablokow","orcid":"https://orcid.org/0000-0002-6838-0981"},"institutions":[{"id":"https://openalex.org/I130769515","display_name":"Pennsylvania State University","ror":"https://ror.org/04p491231","country_code":"US","type":"education","lineage":["https://openalex.org/I130769515"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K.W. Jablokow","raw_affiliation_strings":["Department of Mechanical Engineering, Pennsylvania State University, Malvern, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Pennsylvania State University, Malvern, PA, USA","institution_ids":["https://openalex.org/I130769515"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.24415584,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"39","issue":null,"first_page":"3226","last_page":"3233 Vol.4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9962000250816345,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9939000010490417,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8577144145965576},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.7981975078582764},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.7453529238700867},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.725907564163208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7197979092597961},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7046039700508118},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5559932589530945},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42738762497901917},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.42623668909072876},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2584042251110077},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.23172354698181152},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08691748976707458}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8577144145965576},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.7981975078582764},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.7453529238700867},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.725907564163208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7197979092597961},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7046039700508118},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5559932589530945},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42738762497901917},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.42623668909072876},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2584042251110077},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.23172354698181152},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08691748976707458},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1308751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308751","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":23,"referenced_works":["https://openalex.org/W59322170","https://openalex.org/W1493684099","https://openalex.org/W1578793200","https://openalex.org/W1977227980","https://openalex.org/W2004609114","https://openalex.org/W2030532194","https://openalex.org/W2035368390","https://openalex.org/W2079377897","https://openalex.org/W2084738753","https://openalex.org/W2087412236","https://openalex.org/W2092453501","https://openalex.org/W2098815764","https://openalex.org/W2108121392","https://openalex.org/W2112474089","https://openalex.org/W2113639890","https://openalex.org/W2120556618","https://openalex.org/W2134822766","https://openalex.org/W2152926403","https://openalex.org/W2168791162","https://openalex.org/W2611639782","https://openalex.org/W2671902769","https://openalex.org/W6685187593","https://openalex.org/W6737476930"],"related_works":["https://openalex.org/W2297768894","https://openalex.org/W2378076731","https://openalex.org/W3109014690","https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W2122405502","https://openalex.org/W2114254072","https://openalex.org/W2127721729","https://openalex.org/W86933508","https://openalex.org/W2884798239"],"abstract_inverted_index":{"This":[0],"paper":[1,73],"presents":[2],"a":[3,50,83],"modular":[4,27],"approach":[5],"for":[6,37],"the":[7,30,61,66,69,75,78],"dynamic":[8,70],"modelling":[9],"and":[10,40,57,81],"efficient":[11],"simulation":[12,79],"of":[13,18,29,68,77],"complex":[14],"robot":[15],"systems":[16],"composed":[17],"multiple":[19,23],"robots":[20,39],"constrained":[21],"by":[22],"concurrent":[24],"contacts.":[25],"The":[26],"nature":[28],"algorithm":[31,80],"enables":[32],"existing":[33],"open":[34],"chain":[35],"models":[36],"individual":[38],"other":[41],"mechanisms":[42],"to":[43,65,86],"be":[44],"incorporated":[45],"without":[46],"significant":[47],"reprogramming,":[48],"while":[49],"general":[51],"contact":[52],"model":[53],"allows":[54],"both":[55],"holonomic":[56],"non-holonomic":[58],"constraints":[59],"in":[60],"system.":[62],"In":[63],"addition":[64],"development":[67],"equations,":[71],"this":[72],"addresses":[74],"implementation":[76],"provides":[82],"simple":[84],"example":[85],"illustrate":[87],"its":[88],"modularity.":[89]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
