{"id":"https://openalex.org/W2768525360","doi":"https://doi.org/10.1145/3132446.3134891","title":"Integrating Mimic Joints into Dynamics Algorithms","display_name":"Integrating Mimic Joints into Dynamics Algorithms","publication_year":2017,"publication_date":"2017-06-28","ids":{"openalex":"https://openalex.org/W2768525360","doi":"https://doi.org/10.1145/3132446.3134891","mag":"2768525360"},"language":"en","primary_location":{"id":"doi:10.1145/3132446.3134891","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3132446.3134891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Advances in Robotics","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/A5036934435","display_name":"Shivesh Kumar","orcid":"https://orcid.org/0000-0002-6254-3882"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shivesh Kumar","raw_affiliation_strings":["Robotics Innovation Center, DFKI GmbH, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI GmbH, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015852112","display_name":"Marc Simnofske","orcid":null},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Simnofske","raw_affiliation_strings":["Robotics Innovation Center, DFKI GmbH, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI GmbH, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052589319","display_name":"Bertold Bongardt","orcid":"https://orcid.org/0000-0003-3236-7694"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bertold Bongardt","raw_affiliation_strings":["Robotics Innovation Center, DFKI GmbH, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Innovation Center, DFKI GmbH, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112392532","display_name":"Andreas M\u00fcller","orcid":"https://orcid.org/0000-0001-5033-340X"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Andreas M\u00fcller","raw_affiliation_strings":["Institute of Robotics, Johannes Kepler University, Linz, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics, Johannes Kepler University, Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016436943","display_name":"Frank Kirchner","orcid":"https://orcid.org/0000-0002-1713-9784"},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Kirchner","raw_affiliation_strings":["RIC, DFKI GmbH / AG Robotik, Universit\u00e4t Bremen, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RIC, DFKI GmbH / AG Robotik, Universit\u00e4t Bremen, Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4286,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.83423908,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9991000294685364,"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/computer-science","display_name":"Computer science","score":0.7776962518692017},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.49625450372695923},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4885903298854828}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7776962518692017},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.49625450372695923},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4885903298854828},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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:10.1145/3132446.3134891","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3132446.3134891","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Advances in Robotics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4367199779","display_name":null,"funder_award_id":"01-IM-14006A and 01-IW-15001","funder_id":"https://openalex.org/F4320321114","funder_display_name":"Bundesministerium f\u00fcr Bildung und Forschung"}],"funders":[{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"},{"id":"https://openalex.org/F4320327923","display_name":"Linz Center of Mechatronics","ror":"https://ror.org/05dwv6530"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W143224827","https://openalex.org/W184647470","https://openalex.org/W595154138","https://openalex.org/W618254468","https://openalex.org/W646585437","https://openalex.org/W1747949188","https://openalex.org/W1861506109","https://openalex.org/W1914893953","https://openalex.org/W1963701169","https://openalex.org/W1966552874","https://openalex.org/W1969140852","https://openalex.org/W2043175784","https://openalex.org/W2053501926","https://openalex.org/W2076944554","https://openalex.org/W2101168319","https://openalex.org/W2107485243","https://openalex.org/W2246023205","https://openalex.org/W2266380092","https://openalex.org/W2423857766","https://openalex.org/W2497564812","https://openalex.org/W2561784922","https://openalex.org/W2590831466","https://openalex.org/W2598130365","https://openalex.org/W2623660146","https://openalex.org/W2730283531"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2003465964","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W303980170","https://openalex.org/W2351491280","https://openalex.org/W2386767533","https://openalex.org/W2371447506","https://openalex.org/W2333698505"],"abstract_inverted_index":{"The":[0,146],"design":[1],"of":[2,51,61,93,151],"various":[3],"robots":[4],"in":[5,18,38,48,107,111],"industrial":[6],"and":[7,58,131,141],"academic":[8],"contexts":[9],"integrates":[10],"closed":[11,109],"loops":[12,30,85],"to":[13,75],"improve":[14],"the":[15,49,55,91,116,119,127,134,139,142,149,170],"mechanical":[16],"stiffness":[17],"comparison":[19],"with":[20,84],"purely":[21],"serial":[22],"or":[23,33],"tree-type":[24],"topologies.":[25],"In":[26],"particular,":[27],"planar":[28,161],"kinematic":[29],"as":[31],"parallelograms":[32,35],"double":[34],"are":[36,45,98,123],"employed":[37],"such":[39],"hybrid":[40,82],"robots.":[41],"Since":[42],"these":[43,77,97],"systems":[44],"geometrically":[46],"overconstrained":[47],"group":[50],"spatial":[52],"Euclidean":[53],"motions,":[54],"computational":[56],"performance":[57],"numerical":[59,78],"accuracy":[60],"any":[62,81],"model-based":[63],"dynamics":[64,144],"software":[65],"is":[66],"negatively":[67],"affected.":[68],"This":[69],"paper":[70,147],"introduces":[71],"a":[72,108,112,155,160],"novel":[73,156],"method":[74,153],"avoid":[76],"issues":[79],"for":[80,137,154,169],"system":[83],"that":[86,165],"can":[87],"be":[88],"characterized":[89],"by":[90],"concept":[92],"linear":[94,113],"mimic":[95],"joints:":[96],"passive":[99],"joints":[100],"which":[101],"depend":[102],"on":[103],"an":[104],"active":[105],"joint":[106],"loop":[110,120],"manner.":[114],"With":[115],"proposed":[117],"approach,":[118],"closure":[121],"functions":[122],"automatically":[124],"composed":[125],"from":[126],"robot":[128],"description":[129],"file":[130],"integrated":[132],"into":[133],"analytical":[135],"equations":[136],"solving":[138],"forward":[140],"inverse":[143],"problems.":[145],"illustrates":[148],"application":[150],"this":[152],"shoulder":[157],"mechanism":[158,164],"containing":[159],"six":[162],"bar":[163],"has":[166],"been":[167],"designed":[168],"Recupera":[171],"whole-body":[172],"exoskeleton.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-16T09:24:06.705377","created_date":"2025-10-10T00:00:00"}