{"id":"https://openalex.org/W2588328635","doi":"https://doi.org/10.1109/tro.2017.2654507","title":"A Parallel Recursive Hamiltonian Algorithm for Forward Dynamics of Serial Kinematic Chains","display_name":"A Parallel Recursive Hamiltonian Algorithm for Forward Dynamics of Serial Kinematic Chains","publication_year":2017,"publication_date":"2017-02-15","ids":{"openalex":"https://openalex.org/W2588328635","doi":"https://doi.org/10.1109/tro.2017.2654507","mag":"2588328635"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2017.2654507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2654507","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5007986113","display_name":"Krzysztof Chadaj","orcid":"https://orcid.org/0000-0002-4152-6944"},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Krzysztof Chadaj","raw_affiliation_strings":["Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland","Faculty of Power and Aeronautical Engineering, Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland"],"raw_orcid":"https://orcid.org/0000-0002-4152-6944","affiliations":[{"raw_affiliation_string":"Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]},{"raw_affiliation_string":"Faculty of Power and Aeronautical Engineering, Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085813799","display_name":"Pawe\u0142 Malczyk","orcid":"https://orcid.org/0000-0001-5969-7218"},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Pawel Malczyk","raw_affiliation_strings":["Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland","Faculty of Power and Aeronautical Engineering, Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]},{"raw_affiliation_string":"Faculty of Power and Aeronautical Engineering, Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042094685","display_name":"Janusz Fr\u0105czek","orcid":"https://orcid.org/0000-0001-8232-5439"},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Janusz Fraczek","raw_affiliation_strings":["Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland","Faculty of Power and Aeronautical Engineering, Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]},{"raw_affiliation_string":"Faculty of Power and Aeronautical Engineering, Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.245,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.88111815,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"33","issue":"3","first_page":"647","last_page":"660"},"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":0.9998000264167786,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","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/T13286","display_name":"Modeling and Simulation Systems","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9987999796867371,"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/kinematics","display_name":"Kinematics","score":0.6480129361152649},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"Equations of motion","score":0.6225350499153137},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5918552279472351},{"id":"https://openalex.org/keywords/multibody-system","display_name":"Multibody system","score":0.5469194054603577},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4919099807739258},{"id":"https://openalex.org/keywords/hamiltonian-mechanics","display_name":"Hamiltonian mechanics","score":0.478508859872818},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.45474526286125183},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.45065826177597046},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4484541118144989},{"id":"https://openalex.org/keywords/canonical-form","display_name":"Canonical form","score":0.43268388509750366},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41949212551116943},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3556547164916992},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35348206758499146},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16673052310943604},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12293630838394165},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10065427422523499},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.096743643283844}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6480129361152649},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.6225350499153137},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5918552279472351},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.5469194054603577},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4919099807739258},{"id":"https://openalex.org/C136864674","wikidata":"https://www.wikidata.org/wiki/Q477921","display_name":"Hamiltonian mechanics","level":3,"score":0.478508859872818},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.45474526286125183},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.45065826177597046},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4484541118144989},{"id":"https://openalex.org/C204707403","wikidata":"https://www.wikidata.org/wiki/Q1152398","display_name":"Canonical form","level":2,"score":0.43268388509750366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41949212551116943},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3556547164916992},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35348206758499146},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16673052310943604},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12293630838394165},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10065427422523499},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.096743643283844},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C151342819","wikidata":"https://www.wikidata.org/wiki/Q62542","display_name":"Phase space","level":2,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2017.2654507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2654507","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4399999976158142}],"awards":[{"id":"https://openalex.org/G5474777840","display_name":null,"funder_award_id":"DEC-2012/07/B/ST8/03993","funder_id":"https://openalex.org/F4320322511","funder_display_name":"Narodowe Centrum Nauki"}],"funders":[{"id":"https://openalex.org/F4320322511","display_name":"Narodowe Centrum Nauki","ror":"https://ror.org/03ha2q922"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W41341799","https://openalex.org/W64779303","https://openalex.org/W165762583","https://openalex.org/W202623882","https://openalex.org/W595154138","https://openalex.org/W639693478","https://openalex.org/W812213211","https://openalex.org/W817970649","https://openalex.org/W853246601","https://openalex.org/W1505660892","https://openalex.org/W1509923322","https://openalex.org/W1553636676","https://openalex.org/W1625572076","https://openalex.org/W1964413336","https://openalex.org/W1971365999","https://openalex.org/W1973135532","https://openalex.org/W1973747674","https://openalex.org/W1980548733","https://openalex.org/W1998667631","https://openalex.org/W1999749480","https://openalex.org/W2007240374","https://openalex.org/W2007583701","https://openalex.org/W2009493696","https://openalex.org/W2011626281","https://openalex.org/W2011795318","https://openalex.org/W2026481364","https://openalex.org/W2033574847","https://openalex.org/W2033660441","https://openalex.org/W2040584803","https://openalex.org/W2044924427","https://openalex.org/W2054835430","https://openalex.org/W2059797436","https://openalex.org/W2071033218","https://openalex.org/W2072389159","https://openalex.org/W2072596103","https://openalex.org/W2078521046","https://openalex.org/W2082052835","https://openalex.org/W2084891258","https://openalex.org/W2097699393","https://openalex.org/W2115168632","https://openalex.org/W2116641548","https://openalex.org/W2131543772","https://openalex.org/W2154667563","https://openalex.org/W2154818588","https://openalex.org/W2203881746","https://openalex.org/W2278326935","https://openalex.org/W2316175718","https://openalex.org/W2508446542","https://openalex.org/W2590787982","https://openalex.org/W2709647868","https://openalex.org/W3015138100","https://openalex.org/W3092549130","https://openalex.org/W3156048745","https://openalex.org/W4256187142","https://openalex.org/W4256601331","https://openalex.org/W6622976998","https://openalex.org/W6623161308","https://openalex.org/W6623749966","https://openalex.org/W6734510005","https://openalex.org/W6775869768","https://openalex.org/W6794220556"],"related_works":["https://openalex.org/W2136092908","https://openalex.org/W2329818015","https://openalex.org/W2052509802","https://openalex.org/W3080411230","https://openalex.org/W2314605704","https://openalex.org/W3129501528","https://openalex.org/W2060518269","https://openalex.org/W2214975147","https://openalex.org/W2033408078","https://openalex.org/W2003557311"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,37,90],"novel":[4],"recursive":[5],"formulation":[6,168],"for":[7,43,100],"the":[8,61,75,81,104,114,118,123,126,129,151,170],"simulation":[9],"of":[10,39,64,106,117,125,153],"multibody":[11],"system":[12,46],"dynamics":[13,47],"based":[14,48,167],"on":[15,49],"Hamilton's":[16,20,65],"canonical":[17,21,66],"equations.":[18],"Although":[19],"equations":[22,67,73,105],"exhibit":[23],"many":[24],"advantageous":[25],"features":[26],"compared":[27,162],"to":[28,112],"their":[29],"acceleration-based":[30],"counterparts,":[31],"it":[32],"appears":[33],"that":[34],"there":[35],"is":[36,68,139],"lack":[38],"dedicated":[40],"parallel":[41,101],"algorithms":[42],"multirigid":[44],"body":[45],"this":[50,58],"formulation.":[51],"Serial":[52],"kinematic":[53],"chains":[54],"are":[55,108,161],"considered":[56],"in":[57,89,96,110],"paper.":[59],"Initially,":[60],"standard":[62,165],"set":[63],"joined":[69],"together":[70],"with":[71],"constraint":[72,86,156],"at":[74],"velocity":[76],"level.":[77],"The":[78,159],"reformulation":[79],"determines":[80],"system's":[82],"joint":[83,120],"velocities":[84],"and":[85,92,141,169],"force":[87],"impulses":[88],"divide":[91],"conquer":[93],"manner":[94],"resulting":[95],"logarithmic":[97],"numerical":[98,137],"cost":[99],"implementation.":[102],"Subsequently,":[103],"motion":[107],"rearranged":[109],"order":[111],"obtain":[113],"time":[115],"derivatives":[116],"total":[119],"momenta.":[121],"In":[122],"case":[124],"sequential":[127],"implementation,":[128],"entire":[130],"algorithm":[131],"exhibits":[132],"linear":[133],"computational":[134],"cost.":[135],"Presented":[136],"method":[138],"exact":[140],"noniterative.":[142],"Numerical":[143],"test":[144],"cases":[145],"reveal":[146],"negligible":[147],"energy":[148],"drift":[149],"without":[150],"use":[152],"any":[154],"additional":[155],"stabilization":[157],"techniques.":[158],"results":[160],"against":[163],"more":[164],"acceleration":[166],"outcome":[171],"from":[172],"real-life":[173],"physical":[174],"experiment.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
