{"id":"https://openalex.org/W4412722116","doi":"https://doi.org/10.1109/tro.2025.3593081","title":"A Propagation Perspective on Recursive Forward Dynamics for Systems With Kinematic Loops","display_name":"A Propagation Perspective on Recursive Forward Dynamics for Systems With Kinematic Loops","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4412722116","doi":"https://doi.org/10.1109/tro.2025.3593081"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3593081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3593081","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5035509343","display_name":"Matthew Chignoli","orcid":"https://orcid.org/0000-0003-3066-7001"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Chignoli","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3066-7001","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021359142","display_name":"Nicholas Adrian","orcid":null},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Adrian","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA"],"raw_orcid":"https://orcid.org/0000-0002-0072-5322","affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology (MIT), Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029126529","display_name":"Patrick M. Wensing","orcid":"https://orcid.org/0000-0002-9041-5175"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick M. Wensing","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA"],"raw_orcid":"https://orcid.org/0000-0002-9041-5175","affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18779888,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"41","issue":null,"first_page":"5584","last_page":"5603"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9386000037193298,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9386000037193298,"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/T11261","display_name":"Quantum chaos and dynamical systems","score":0.9138000011444092,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9072999954223633,"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":0.7761217355728149},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.6258320808410645},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5612763166427612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5087938904762268},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47859427332878113},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4477371275424957},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3283153176307678},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3213036060333252},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28109216690063477},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19861355423927307},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19143322110176086},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18389761447906494},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.15392819046974182},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10247153043746948}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7761217355728149},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.6258320808410645},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5612763166427612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5087938904762268},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47859427332878113},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4477371275424957},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3283153176307678},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3213036060333252},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28109216690063477},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19861355423927307},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19143322110176086},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18389761447906494},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.15392819046974182},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10247153043746948},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3593081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3593081","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1563726692","https://openalex.org/W1661891121","https://openalex.org/W1964314703","https://openalex.org/W1966552874","https://openalex.org/W1973862175","https://openalex.org/W2009493696","https://openalex.org/W2012733035","https://openalex.org/W2015058189","https://openalex.org/W2017948893","https://openalex.org/W2020239957","https://openalex.org/W2033991706","https://openalex.org/W2034532151","https://openalex.org/W2042951395","https://openalex.org/W2052813976","https://openalex.org/W2059731470","https://openalex.org/W2076266827","https://openalex.org/W2084891258","https://openalex.org/W2087102025","https://openalex.org/W2099137201","https://openalex.org/W2136219750","https://openalex.org/W2139038136","https://openalex.org/W2151780624","https://openalex.org/W2158782408","https://openalex.org/W2325856212","https://openalex.org/W2757747010","https://openalex.org/W2767050701","https://openalex.org/W2842089854","https://openalex.org/W2906487027","https://openalex.org/W2968213087","https://openalex.org/W3176455058","https://openalex.org/W3206363598","https://openalex.org/W4221164057","https://openalex.org/W4250058668","https://openalex.org/W4255617101","https://openalex.org/W4283726377","https://openalex.org/W4285102304","https://openalex.org/W4312340473","https://openalex.org/W4388983821","https://openalex.org/W4399469378","https://openalex.org/W4404953314"],"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":{"We":[0,91,109],"revisit":[1],"the":[2,25,62,99,111,115,126,142,157,164,169,173,192],"concept":[3],"of":[4,65,84,114,178],"constraint":[5,54,158,179,189],"embedding":[6,159,180,190],"as":[7],"a":[8,47],"means":[9],"for":[10,19,130,141],"dealing":[11],"with":[12],"kinematic":[13,199],"loop":[14,27,89],"constraints":[15,28],"during":[16],"dynamics":[17,103,144],"computations":[18],"rigid-body":[20],"systems.":[21],"Specifically,":[22],"we":[23,56,134],"consider":[24],"local":[26,198],"emerging":[29],"from":[30],"common":[31],"actuation":[32],"sub-mechanisms":[33],"in":[34,139,195],"modern":[35],"robotics":[36,166],"systems":[37],"(e.g.,":[38],"geared":[39],"motors,":[40],"differential":[41],"drives,":[42],"and":[43,68,79,176],"four-bar":[44],"mechanisms).":[45],"As":[46],"complementary":[48],"perspective":[49],"to":[50,75,88,97,125,155,163],"prior":[51],"work":[52],"on":[53],"embedding,":[55],"present":[57],"an":[58],"analysis":[59],"that":[60,188],"generalizes":[61],"traditional":[63],"concepts":[64,96,118],"joint":[66,77,117],"models":[67,78],"motion/force":[69,80],"subspaces":[70,81],"between":[71,82],"individual":[72],"rigid":[73,85],"bodies":[74,86],"generalized":[76,95,116],"groups":[83],"subject":[87],"constraints.":[90],"then":[92],"use":[93],"these":[94],"derive":[98],"constraint-embedded":[100],"recursive":[101,128],"forward":[102,143],"algorithm":[104,129,145],"using":[105],"multi-handle":[106],"articulated":[107],"bodies.":[108],"demonstrate":[110],"broad":[112],"applicability":[113],"by":[119],"showing":[120],"how":[121],"they":[122],"also":[123],"lead":[124],"constraint-embedding-based":[127],"inverse":[131],"dynamics.":[132],"Lastly,":[133],"benchmark":[135],"our":[136,185],"open-source":[137],"implementation":[138],"C++":[140],"against":[146],"state-of-the-art,":[147],"sparsity-exploiting":[148,182],"algorithms.":[149],"Our":[150],"alternative":[151,194],"derivation":[152],"is":[153],"intended":[154],"make":[156],"methodology":[160],"more":[161],"accessible":[162],"broader":[165],"community,":[167],"while":[168],"benchmarking":[170,186],"study":[171],"clarifies":[172],"relative":[174],"strengths":[175],"limitations":[177],"versus":[181],"methods.":[183],"Indeed,":[184],"validates":[187],"outperforms":[191],"non-recursive":[193],"cases":[196],"involving":[197],"loops.":[200]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}