{"id":"https://openalex.org/W4392046359","doi":"https://doi.org/10.3390/s24051415","title":"Variable Time-Step Physics Engine with Continuous Compliance Contact Model for Optimal Robotic Grinding Trajectory Planning","display_name":"Variable Time-Step Physics Engine with Continuous Compliance Contact Model for Optimal Robotic Grinding Trajectory Planning","publication_year":2024,"publication_date":"2024-02-22","ids":{"openalex":"https://openalex.org/W4392046359","doi":"https://doi.org/10.3390/s24051415","pmid":"https://pubmed.ncbi.nlm.nih.gov/38474948"},"language":"en","primary_location":{"id":"doi:10.3390/s24051415","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051415","pdf_url":"https://www.mdpi.com/1424-8220/24/5/1415/pdf?version=1708595656","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/5/1415/pdf?version=1708595656","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036705339","display_name":"Yongcan Zhou","orcid":"https://orcid.org/0009-0006-0837-0585"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongcan Zhou","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China","Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China","Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China"],"raw_orcid":"https://orcid.org/0009-0006-0837-0585","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101568468","display_name":"Yang Pan","orcid":"https://orcid.org/0000-0003-4068-9888"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Pan","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China","Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China","Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101413514","display_name":"Junpeng Chen","orcid":"https://orcid.org/0000-0003-3474-4377"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junpeng Chen","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China","Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China","Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045873979","display_name":"Tianjian Lei","orcid":"https://orcid.org/0009-0006-8900-8042"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianjian Lei","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China","Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China","Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China"],"raw_orcid":"https://orcid.org/0009-0006-8900-8042","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5101568468"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.8146,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7011398,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"24","issue":"5","first_page":"1415","last_page":"1415"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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/physics-engine","display_name":"Physics engine","score":0.7152029871940613},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6931024193763733},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.49814558029174805},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45778217911720276},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4567618668079376},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.45667243003845215},{"id":"https://openalex.org/keywords/contact-dynamics","display_name":"Contact dynamics","score":0.45374804735183716},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4452824294567108},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43463799357414246},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43274545669555664},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.42810916900634766},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4251399636268616},{"id":"https://openalex.org/keywords/grinding","display_name":"Grinding","score":0.4249059557914734},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4138807952404022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38710325956344604},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36355817317962646},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.22687044739723206},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20645871758460999},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16212889552116394},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13055527210235596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10522881150245667}],"concepts":[{"id":"https://openalex.org/C190390380","wikidata":"https://www.wikidata.org/wiki/Q62505","display_name":"Physics engine","level":2,"score":0.7152029871940613},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6931024193763733},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.49814558029174805},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45778217911720276},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4567618668079376},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.45667243003845215},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.45374804735183716},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4452824294567108},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43463799357414246},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43274545669555664},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.42810916900634766},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4251399636268616},{"id":"https://openalex.org/C2777571299","wikidata":"https://www.wikidata.org/wiki/Q3680646","display_name":"Grinding","level":2,"score":0.4249059557914734},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4138807952404022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38710325956344604},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36355817317962646},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.22687044739723206},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20645871758460999},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16212889552116394},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13055527210235596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10522881150245667},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24051415","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051415","pdf_url":"https://www.mdpi.com/1424-8220/24/5/1415/pdf?version=1708595656","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:38474948","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38474948","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10935279","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10935279","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10935279/pdf/sensors-24-01415.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:0ea59c1e5d1e4a9c91e998e5f5044c97","is_oa":true,"landing_page_url":"https://doaj.org/article/0ea59c1e5d1e4a9c91e998e5f5044c97","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 5, p 1415 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24051415","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051415","pdf_url":"https://www.mdpi.com/1424-8220/24/5/1415/pdf?version=1708595656","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8799999952316284,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G2450803433","display_name":null,"funder_award_id":"SGDX20220530110804030","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G2567736887","display_name":null,"funder_award_id":"JCYJ20220818100417038","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"},{"id":"https://openalex.org/G3662630381","display_name":null,"funder_award_id":"2022YFB4701200","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"},{"id":"https://openalex.org/G4054760217","display_name":null,"funder_award_id":"ZDSYS20200811143601004","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G4503875815","display_name":null,"funder_award_id":"JCYJ20220818100417038","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6474565205","display_name":null,"funder_award_id":"2022YFB4701200","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G7753615811","display_name":null,"funder_award_id":"ZDSYS20200811143601004","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"},{"id":"https://openalex.org/G8039771112","display_name":null,"funder_award_id":"No. SGDX20220530110804030","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"},{"id":"https://openalex.org/G8467164707","display_name":null,"funder_award_id":"SGDX20220530110804030","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"}],"funders":[{"id":"https://openalex.org/F4320326705","display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392046359.pdf"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1570792896","https://openalex.org/W1974799269","https://openalex.org/W1980561585","https://openalex.org/W1987038715","https://openalex.org/W1992026489","https://openalex.org/W2004139909","https://openalex.org/W2007191505","https://openalex.org/W2022619681","https://openalex.org/W2035322392","https://openalex.org/W2057739339","https://openalex.org/W2059797436","https://openalex.org/W2123921806","https://openalex.org/W2147828186","https://openalex.org/W2158782408","https://openalex.org/W2285831142","https://openalex.org/W2339217605","https://openalex.org/W2556096037","https://openalex.org/W2779458783","https://openalex.org/W2903365351","https://openalex.org/W2911503469","https://openalex.org/W2972859759","https://openalex.org/W2980169406","https://openalex.org/W3100294633","https://openalex.org/W3176539729","https://openalex.org/W3192795455","https://openalex.org/W3216784674","https://openalex.org/W4292429697","https://openalex.org/W4319441614","https://openalex.org/W4365147023","https://openalex.org/W4386825382","https://openalex.org/W4387094495","https://openalex.org/W4390188352"],"related_works":["https://openalex.org/W2969053614","https://openalex.org/W2940081677","https://openalex.org/W2810094958","https://openalex.org/W2137135972","https://openalex.org/W4288373268","https://openalex.org/W1984009428","https://openalex.org/W2067464119","https://openalex.org/W2147725488","https://openalex.org/W4390188352","https://openalex.org/W4392046359"],"abstract_inverted_index":{"In":[0,188],"the":[1,9,24,64,82,101,108,136,144,147,151,172,182,186,203,224],"transition":[2],"from":[3],"virtual":[4,210],"environments":[5],"to":[6],"real-world":[7],"applications,":[8],"role":[10],"of":[11,27,75,85,138,146,166,185,205],"physics":[12,35,122,193],"engines":[13],"is":[14,112,213],"crucial":[15],"for":[16,45,114],"accurately":[17],"emulating":[18],"and":[19,51,77,94,159,207],"representing":[20],"systems.":[21],"To":[22],"address":[23],"prevalent":[25],"issue":[26],"inaccurate":[28],"simulations,":[29,54],"this":[30,190],"paper":[31],"introduces":[32],"a":[33,40],"novel":[34],"engine":[36,65,123,194],"uniquely":[37],"designed":[38,44,113],"with":[39,130],"compliant":[41],"contact":[42,57,90,109,132,148,179,200],"model":[43],"robotic":[46,160,229],"grinding.":[47],"It":[48],"features":[49],"continuous":[50,173],"variable":[52],"time-step":[53],"emphasizing":[55],"accurate":[56],"force":[58],"calculations":[59],"during":[60,141],"object":[61],"collision.":[62],"Firstly,":[63],"derives":[66],"dynamic":[67,86],"equations":[68],"considering":[69],"spring":[70,139],"stiffness,":[71],"damping":[72],"coefficients,":[73],"coefficients":[74,165],"restitution,":[76],"external":[78],"forces.":[79],"This":[80,212],"facilitates":[81],"effective":[83,104],"determination":[84],"parameters":[87],"such":[88,177,227],"as":[89,178,228],"force,":[91,180],"acceleration,":[92],"velocity,":[93],"position":[95],"throughout":[96],"penetration":[97],"processes":[98],"continuously.":[99],"Secondly,":[100],"approach":[102],"utilizes":[103],"inertia":[105],"in":[106,128,150,175,209,216,223],"developing":[107],"model,":[110],"which":[111],"multi-jointed":[115],"robots":[116],"through":[117,135,155],"pose":[118],"transformation.":[119],"The":[120],"proposed":[121],"effectively":[124,170],"captures":[125],"energy":[126],"conversion":[127],"scenarios":[129,217],"convex":[131],"surface":[133],"shapes":[134],"application":[137],"dampers":[140],"collisions.":[142],"Finally,":[143],"reliability":[145],"solver":[149],"simulation":[152],"was":[153],"verified":[154],"bouncing":[156],"ball":[157],"experiments":[158,162,169],"grinding":[161,230],"under":[163],"different":[164],"restitution.":[167],"These":[168],"recorded":[171],"variations":[174],"parameters,":[176],"verifying":[181],"integral":[183],"stability":[184],"system.":[187],"summary,":[189],"article":[191],"advances":[192],"technology":[195],"beyond":[196],"current":[197],"geometrically":[198],"constrained":[199],"solutions,":[201],"enhancing":[202],"accuracy":[204],"simulations":[206],"modeling":[208],"environments.":[211],"particularly":[214],"significant":[215],"wherein":[218],"there":[219],"are":[220],"constant":[221],"changes":[222],"outside":[225],"world,":[226],"tasks.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}