{"id":"https://openalex.org/W2155823170","doi":"https://doi.org/10.1109/robot.2006.1641984","title":"Stable penalty-based model of frictional contacts","display_name":"Stable penalty-based model of frictional contacts","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2155823170","doi":"https://doi.org/10.1109/robot.2006.1641984","mag":"2155823170"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5062092630","display_name":"Katsu Yamane","orcid":"https://orcid.org/0000-0002-6056-9210"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Yamane","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Nakamura","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1904","last_page":"1909"},"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":0.9995999932289124,"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":0.9995999932289124,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T12252","display_name":"Mechanical stress and fatigue analysis","score":0.9735000133514404,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/computation","display_name":"Computation","score":0.7205458879470825},{"id":"https://openalex.org/keywords/coulomb","display_name":"Coulomb","score":0.6253764033317566},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6053085923194885},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.599187433719635},{"id":"https://openalex.org/keywords/coulomb-friction","display_name":"Coulomb friction","score":0.5584934949874878},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.5552393198013306},{"id":"https://openalex.org/keywords/coulombs-law","display_name":"Coulomb's law","score":0.5331876277923584},{"id":"https://openalex.org/keywords/penetration","display_name":"Penetration (warfare)","score":0.446389377117157},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44145455956459045},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40492331981658936},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3506242036819458},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.18834659457206726},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1595076620578766},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14717090129852295},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.07921266555786133}],"concepts":[{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.7205458879470825},{"id":"https://openalex.org/C9342510","wikidata":"https://www.wikidata.org/wiki/Q25406","display_name":"Coulomb","level":3,"score":0.6253764033317566},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6053085923194885},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.599187433719635},{"id":"https://openalex.org/C2986328948","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Coulomb friction","level":3,"score":0.5584934949874878},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.5552393198013306},{"id":"https://openalex.org/C193874036","wikidata":"https://www.wikidata.org/wiki/Q83152","display_name":"Coulomb's law","level":4,"score":0.5331876277923584},{"id":"https://openalex.org/C80107235","wikidata":"https://www.wikidata.org/wiki/Q7162625","display_name":"Penetration (warfare)","level":2,"score":0.446389377117157},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44145455956459045},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40492331981658936},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3506242036819458},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18834659457206726},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1595076620578766},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14717090129852295},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.07921266555786133},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C147120987","wikidata":"https://www.wikidata.org/wiki/Q2225","display_name":"Electron","level":2,"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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1641984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.5},{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1999250663","https://openalex.org/W1999447019","https://openalex.org/W2008536234","https://openalex.org/W2051102518","https://openalex.org/W2098214416","https://openalex.org/W2113115376","https://openalex.org/W2119348011","https://openalex.org/W2140036247","https://openalex.org/W2157141568","https://openalex.org/W2159418100","https://openalex.org/W2168442106","https://openalex.org/W2763226479","https://openalex.org/W3003958395","https://openalex.org/W6674862043","https://openalex.org/W6745133518"],"related_works":["https://openalex.org/W2722509704","https://openalex.org/W204824414","https://openalex.org/W2890511978","https://openalex.org/W1840006687","https://openalex.org/W3204150836","https://openalex.org/W2023711181","https://openalex.org/W2931536962","https://openalex.org/W2354357583","https://openalex.org/W2015205059","https://openalex.org/W3204099251"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,44,60],"stable":[4],"penalty-based":[5],"model":[6,20,31,74,86],"for":[7,32,47],"simulating":[8],"frictional":[9],"contacts":[10],"between":[11],"many":[12],"complex":[13,99],"objects.":[14,65],"The":[15],"major":[16],"advantage":[17],"of":[18,59,62,72,83,97,103,106,108],"our":[19],"is":[21],"that":[22],"it":[23],"solves":[24],"the":[25,49,68,73,77],"problems":[26],"in":[27],"implementing":[28],"Coulomb's":[29,84],"friction":[30,85,89],"computer":[33],"simulation:":[34],"iterative":[35],"computation":[36],"and":[37,52,70,87],"slip":[38],"velocity":[39],"threshold.":[40],"We":[41,66],"also":[42],"introduce":[43],"robust":[45],"method":[46],"computing":[48],"normal":[50],"vector":[51],"penetration":[53],"depth":[54],"at":[55],"each":[56],"contact":[57],"point":[58],"pair":[61],"interpenetrating":[63],"polygonal":[64],"demonstrate":[67],"validity":[69],"usability":[71],"by":[75],"comparing":[76],"simulation":[78,96],"results":[79],"with":[80,101],"closed-form":[81],"solutions":[82],"conventional":[88],"model,":[90],"as":[91,93],"well":[92],"performing":[94],"dynamics":[95],"highly":[98],"scenes":[100],"tens":[102],"objects":[104],"composed":[105],"thousands":[107],"polygons":[109]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
