{"id":"https://openalex.org/W1521643008","doi":"https://doi.org/10.2312/pe/vriphys/vriphys06/081-090","title":"Fast Dynamic Simulation of Multi-Body Systems Using Impulses","display_name":"Fast Dynamic Simulation of Multi-Body Systems Using Impulses","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W1521643008","doi":"https://doi.org/10.2312/pe/vriphys/vriphys06/081-090","mag":"1521643008"},"language":"en","primary_location":{"id":"pmh:oai:CiteSeerX.psu:10.1.1.64.1536","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.64.1536","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://i31www.ira.uka.de/docs/DynamicSimulation.pdf","raw_type":"text"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.2312/pe/vriphys/vriphys06/081-090","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059492138","display_name":"Jan Bender","orcid":"https://orcid.org/0000-0002-1908-4027"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Bender, Jan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5112352351","display_name":"Alfred A. Schmitt","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Schmitt, Alfred A.","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5059492138"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"81","last_page":"90"},"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/T13286","display_name":"Modeling and Simulation Systems","score":0.9962999820709229,"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":0.9927999973297119,"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":0.5375670194625854}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5375670194625854}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:CiteSeerX.psu:10.1.1.64.1536","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.64.1536","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://i31www.ira.uka.de/docs/DynamicSimulation.pdf","raw_type":"text"},{"id":"doi:10.2312/pe/vriphys/vriphys06/081-090","is_oa":true,"landing_page_url":"https://doi.org/10.2312/pe/vriphys/vriphys06/081-090","pdf_url":null,"source":{"id":"https://openalex.org/S7407052899","display_name":"Eurographics","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:1521643008","is_oa":false,"landing_page_url":"https://dblp.uni-trier.de/db/conf/vriphys/vriphys2006.html#BenderS06","pdf_url":null,"source":{"id":"https://openalex.org/S4306534573","display_name":"VRIPHYS","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"VRIPHYS","raw_type":null}],"best_oa_location":{"id":"doi:10.2312/pe/vriphys/vriphys06/081-090","is_oa":true,"landing_page_url":"https://doi.org/10.2312/pe/vriphys/vriphys06/081-090","pdf_url":null,"source":{"id":"https://openalex.org/S7407052899","display_name":"Eurographics","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.75,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W94941688","https://openalex.org/W138704877","https://openalex.org/W639693478","https://openalex.org/W1514056936","https://openalex.org/W1602382704","https://openalex.org/W1653380419","https://openalex.org/W1975537977","https://openalex.org/W1986052639","https://openalex.org/W2003105834","https://openalex.org/W2033219431","https://openalex.org/W2033398663","https://openalex.org/W2051102518","https://openalex.org/W2054640604","https://openalex.org/W2075036486","https://openalex.org/W2087618354","https://openalex.org/W2099419572","https://openalex.org/W2101275250","https://openalex.org/W2102642497","https://openalex.org/W2139038136","https://openalex.org/W2141238972","https://openalex.org/W2147774191","https://openalex.org/W2299367080","https://openalex.org/W2491013645"],"related_works":["https://openalex.org/W2139038136","https://openalex.org/W2099419572","https://openalex.org/W2229937908","https://openalex.org/W2293667362","https://openalex.org/W1494901018","https://openalex.org/W1588225379","https://openalex.org/W2286083087","https://openalex.org/W2085897137","https://openalex.org/W1495228516","https://openalex.org/W59522854","https://openalex.org/W62430417","https://openalex.org/W2466990712","https://openalex.org/W653320437","https://openalex.org/W2143582212","https://openalex.org/W2237573453","https://openalex.org/W2260210334","https://openalex.org/W2465282607","https://openalex.org/W2249199233","https://openalex.org/W2161068701","https://openalex.org/W2619871772"],"abstract_inverted_index":{"A":[0,112],"dynamic":[1],"simulation":[2,30,48,73,106,145],"method":[3,17,114,140],"for":[4,89],"multi-body":[5,91,148],"systems":[6],"is":[7,18,64,68,82,115],"presented":[8,116],"in":[9,75],"this":[10,16,130],"paper.":[11],"The":[12],"special":[13],"feature":[14],"of":[15,107,121,146],"that":[19,117],"it":[20],"satisfies":[21],"all":[22],"given":[23],"constraints":[24],"by":[25],"computing":[26],"impulses.":[27],"In":[28,40,84],"each":[29],"step":[31,37],"the":[32,36,47,56,72,87,105,134],"joint":[33,62],"states":[34,45],"after":[35,46],"are":[38,51,137],"predicted.":[39],"order":[41],"to":[42,55,124],"obtain":[43],"valid":[44,61],"step,":[49],"impulses":[50,88,136],"computed":[52,94],"and":[53,77],"applied":[54],"connected":[57],"bodies.":[58],"Since":[59,96],"a":[60,90,119,142],"state":[63],"targeted":[65],"exactly,":[66],"there":[67],"no":[69,79],"drift":[70],"as":[71],"proceeds":[74],"time":[76],"so":[78],"additional":[80],"stabilisation":[81],"required.":[83],"previous":[85],"approaches":[86],"system":[92,120,133],"were":[93,100],"iteratively.":[95],"dependencies":[97],"between":[98],"joints":[99],"not":[101],"taken":[102],"into":[103],"account,":[104],"complex":[108,147],"models":[109],"was":[110],"slow.":[111],"novel":[113],"uses":[118],"linear":[122],"equations":[123],"describe":[125],"these":[126],"dependencies.":[127],"By":[128],"solving":[129],"typically":[131],"sparse":[132],"required":[135],"determined.":[138],"This":[139],"allows":[141],"very":[143],"fast":[144],"systems.":[149]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}