{"id":"https://openalex.org/W2169253379","doi":"https://doi.org/10.1109/robot.2005.1570816","title":"Effective Constrained Dynamic Simulation Using Implicit Constraint Enforcement","display_name":"Effective Constrained Dynamic Simulation Using Implicit Constraint Enforcement","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2169253379","doi":"https://doi.org/10.1109/robot.2005.1570816","mag":"2169253379"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5006130083","display_name":"Min Hong","orcid":"https://orcid.org/0000-0001-9963-5521"},"institutions":[{"id":"https://openalex.org/I921990950","display_name":"University of Colorado Denver","ror":"https://ror.org/02hh7en24","country_code":"US","type":"education","lineage":["https://openalex.org/I921990950"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Min Hong","raw_affiliation_strings":["Bioinformatics, University of Colorado, Denver and Health Sciences Center, Denver, CO, USA"],"affiliations":[{"raw_affiliation_string":"Bioinformatics, University of Colorado, Denver and Health Sciences Center, Denver, CO, USA","institution_ids":["https://openalex.org/I921990950"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005802199","display_name":"Min\u2010Hyung Choi","orcid":"https://orcid.org/0000-0002-1327-4065"},"institutions":[{"id":"https://openalex.org/I921990950","display_name":"University of Colorado Denver","ror":"https://ror.org/02hh7en24","country_code":"US","type":"education","lineage":["https://openalex.org/I921990950"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Min-Hyung Choi","raw_affiliation_strings":["Computer Science and Engineering, University of Colorado, Denver and Health Sciences Center, Denver, CO, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering, University of Colorado, Denver and Health Sciences Center, Denver, CO, USA","institution_ids":["https://openalex.org/I921990950"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108537014","display_name":"Sunhwa Jung","orcid":null},"institutions":[{"id":"https://openalex.org/I921990950","display_name":"University of Colorado Denver","ror":"https://ror.org/02hh7en24","country_code":"US","type":"education","lineage":["https://openalex.org/I921990950"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sunhwa Jung","raw_affiliation_strings":["Computer Science and Engineering, University of Colorado, Denver and Health Sciences Center, Denver, CO, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering, University of Colorado, Denver and Health Sciences Center, Denver, CO, USA","institution_ids":["https://openalex.org/I921990950"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006604777","display_name":"Samuel W. J. Welch","orcid":"https://orcid.org/0009-0002-1241-254X"},"institutions":[{"id":"https://openalex.org/I4210087413","display_name":"University of Colorado Health","ror":"https://ror.org/0107w4315","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210087413"]},{"id":"https://openalex.org/I921990950","display_name":"University of Colorado Denver","ror":"https://ror.org/02hh7en24","country_code":"US","type":"education","lineage":["https://openalex.org/I921990950"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Welch","raw_affiliation_strings":["Mechanical Engineering, University of Colorado, Denver and Health Sciences Center, Denver, CO, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Colorado, Denver and Health Sciences Center, Denver, CO, USA","institution_ids":["https://openalex.org/I4210087413","https://openalex.org/I921990950"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108370529","display_name":"J.A. Trapp","orcid":null},"institutions":[{"id":"https://openalex.org/I921990950","display_name":"University of Colorado Denver","ror":"https://ror.org/02hh7en24","country_code":"US","type":"education","lineage":["https://openalex.org/I921990950"]},{"id":"https://openalex.org/I4210087413","display_name":"University of Colorado Health","ror":"https://ror.org/0107w4315","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210087413"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Trapp","raw_affiliation_strings":["Mechanical Engineering, University of Colorado, Denver and Health Sciences Center, Denver, CO, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Colorado, Denver and Health Sciences Center, Denver, CO, USA","institution_ids":["https://openalex.org/I4210087413","https://openalex.org/I921990950"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5006130083"],"corresponding_institution_ids":["https://openalex.org/I921990950"],"apc_list":null,"apc_paid":null,"fwci":11.9217,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.98389801,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"4520","last_page":"4525"},"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":0.9940999746322632,"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":0.9940999746322632,"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/T12290","display_name":"Human Motion and Animation","score":0.9926000237464905,"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/T13286","display_name":"Modeling and Simulation Systems","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/constraint","display_name":"Constraint (computer-aided design)","score":0.865253210067749},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6462254524230957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6081157326698303},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5466606020927429},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5310158133506775},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4754090905189514},{"id":"https://openalex.org/keywords/enforcement","display_name":"Enforcement","score":0.4257010519504547},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4178357720375061},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26447781920433044},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1024949848651886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10040757060050964}],"concepts":[{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.865253210067749},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6462254524230957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6081157326698303},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5466606020927429},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5310158133506775},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4754090905189514},{"id":"https://openalex.org/C2779777834","wikidata":"https://www.wikidata.org/wiki/Q4202277","display_name":"Enforcement","level":2,"score":0.4257010519504547},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4178357720375061},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26447781920433044},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1024949848651886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10040757060050964},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2005.1570816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.85.9393","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.85.9393","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://graphics.cudenver.edu/Publication/05_ICRA.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7099999785423279,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W318695468","https://openalex.org/W1492940985","https://openalex.org/W1537561328","https://openalex.org/W1975537977","https://openalex.org/W1977085506","https://openalex.org/W1987135480","https://openalex.org/W1989871863","https://openalex.org/W2017116334","https://openalex.org/W2113069029","https://openalex.org/W2121134834","https://openalex.org/W2131762874","https://openalex.org/W2139038136","https://openalex.org/W2186760631","https://openalex.org/W2235036220","https://openalex.org/W2295267092","https://openalex.org/W2998248225","https://openalex.org/W4229525926","https://openalex.org/W4233611731","https://openalex.org/W4248724333","https://openalex.org/W6611118339","https://openalex.org/W6629538746","https://openalex.org/W6632208530"],"related_works":["https://openalex.org/W2358073380","https://openalex.org/W2386513265","https://openalex.org/W2298298575","https://openalex.org/W1602072618","https://openalex.org/W2064284147","https://openalex.org/W2349580982","https://openalex.org/W3121403376","https://openalex.org/W2380662048","https://openalex.org/W1964090995","https://openalex.org/W2767307537"],"abstract_inverted_index":{"Stable":[0],"and":[1,35,73,99,192,197],"effective":[2],"enforcement":[3,90,111,191],"of":[4,9,71,123,188],"hard":[5],"constraints":[6],"is":[7,93,159],"one":[8],"the":[10,26,67,80,114,120,124,137,147,162],"crucial":[11],"components":[12],"in":[13,128,151],"controlling":[14],"physics-based":[15],"dynamic":[16,174,198],"simulation":[17],"systems.":[18],"The":[19,50],"conventional":[20],"explicit":[21,163],"Baumgarte":[22,164],"constraint":[23,59,81,89,110,125,143,148,190,195],"stabilization":[24,105],"confines":[25],"time":[27,97,116,133],"step":[28,117],"to":[29,38,42,47,78,118],"be":[30,168],"within":[31],"a":[32,57,186],"stability":[33,130],"limit":[34],"requires":[36,74],"users":[37],"pick":[39],"problem-dependent":[40],"coefficients":[41],"achieve":[43],"fast":[44],"convergence":[45],"or":[46,179],"prevent":[48],"oscillations.":[49],"recently":[51],"proposed":[52,138],"post-stabilization":[53],"method":[54,112,139],"has":[55],"shown":[56],"successful":[58],"drift":[60],"reduction":[61],"but":[62],"it":[63],"does":[64,100],"not":[65,101],"guarantee":[66],"physically":[68,141,152],"correct":[69,121,153],"behavior":[70,199],"motion":[72],"additional":[75],"computational":[76,157],"cost":[77],"decrease":[79],"errors.":[82],"This":[83,107,183],"paper":[84,184],"presents":[85],"our":[86],"new":[87,108],"implicit":[88,109,189],"technique":[91],"that":[92],"stable":[94],"over":[95,131],"large":[96],"steps":[98],"require":[102],"problem":[103],"dependent":[104],"parameters.":[106],"uses":[113],"future":[115],"estimate":[119],"magnitude":[122],"forces,":[126],"resulting":[127,150],"better":[129],"bigger":[132],"steps.":[134],"More":[135],"importantly,":[136],"generates":[140],"conforming":[142],"forces":[144],"while":[145],"minimizing":[146],"drifts,":[149],"motion.":[154],"Its":[155],"asymptotic":[156],"complexity":[158],"same":[160],"as":[161],"method.":[165],"It":[166],"can":[167],"easily":[169],"integrated":[170],"into":[171],"various":[172],"constrained":[173],"systems":[175],"including":[176],"rigid":[177],"body":[178],"deformable":[180],"structure":[181],"applications.":[182],"describes":[185],"formulation":[187],"an":[193],"accumulated":[194],"error":[196],"analysis":[200],"for":[201],"comparison":[202],"with":[203],"existing":[204],"methods.":[205]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
