{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T20:06:00Z","timestamp":1773086760307,"version":"3.50.1"},"reference-count":32,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,6]]},"DOI":"10.1109\/icar.2011.6088619","type":"proceedings-article","created":{"date-parts":[[2011,12,6]],"date-time":"2011-12-06T20:56:48Z","timestamp":1323205008000},"page":"34-41","source":"Crossref","is-referenced-by-count":14,"title":["Simulation of dynamics and realistic contact forces for manipulators and legged robots with high joint elasticity"],"prefix":"10.1109","author":[{"given":"Thomas","family":"Lens","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Katayon","family":"Radkhah","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oskar","family":"von Stryk","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"19","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509739"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1109\/ENC.2005.5"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509728"},{"key":"15","first-page":"1322","article-title":"A framework for multi-contact multi-body dynamic simulation and haptic display","volume":"2","author":"ruspini","year":"2000","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"16","first-page":"219","article-title":"Integrated environment for modelling, simulation and control design for robotic manipulators","volume":"32","author":"zlajpah","year":"2001","journal-title":"Journal of Intelligent and Robotic Systems Theory and Applications"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351206"},{"key":"14","first-page":"185","article-title":"Collision\/contact models for the dynamic simulation of complex environments","author":"ruspini","year":"0","journal-title":"International Symposium on Robotics Research 1997"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1109\/100.486658"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1109\/100.296449"},{"key":"21","first-page":"411","article-title":"Dynamic modeling of the 4 dof biorob series elastic robot arm for simulation and control","author":"lens","year":"2010","journal-title":"Lecture Notes in Artificial Intelligence"},{"key":"20","year":"0"},{"key":"22","year":"0"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843611002587"},{"key":"24","year":"1990","journal-title":"Matlab User's Guide"},{"key":"25","year":"2007","journal-title":"Simulink User's Guide"},{"key":"26","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.810579"},{"key":"27","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1992.220016"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.1115\/1.3423596"},{"key":"29","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.506951"},{"key":"3","author":"kane","year":"1985","journal-title":"Dynamics Theory and Applications"},{"key":"2","doi-asserted-by":"crossref","DOI":"10.1007\/978-0-387-74315-8","author":"featherstone","year":"1987","journal-title":"Robot Dynamics Algorithms"},{"key":"10","doi-asserted-by":"crossref","first-page":"215","DOI":"10.1115\/1.4011045","article-title":"A kinematic notation for a lower-pair mechanisms based on matrices","volume":"22","author":"denavit","year":"1955","journal-title":"ASME J Applied Mechanics"},{"key":"1","author":"craig","year":"1989","journal-title":"Introduction to Robotics Mechanics and Control"},{"key":"30","author":"goldsmith","year":"2001","journal-title":"Impact The Theory and Physical Behaviour of Colliding Solids"},{"key":"7","article-title":"Dynamics simulation of humanoid robots: Forward dynamics, contact, and experiments","author":"yamane","year":"0","journal-title":"17th CIS-MIFToMM Symposium on Robot Design Dynamics and Control 2008"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139699"},{"key":"32","author":"lipfert","year":"2009","journal-title":"Kinematic and Dynamic Similarities between Walking and Running"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844157"},{"key":"31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525827"},{"key":"4","author":"goldstein","year":"1980","journal-title":"Classical Mechanics"},{"key":"9","author":"smith","year":"2006","journal-title":"Open Dynamics Engine v0 5 user guide"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_3"}],"event":{"name":"2011 15th International Conference on Advanced Robotics (ICAR 2011)","location":"Tallinn, Estonia","start":{"date-parts":[[2011,6,20]]},"end":{"date-parts":[[2011,6,23]]}},"container-title":["2011 15th International Conference on Advanced Robotics (ICAR)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/6081304\/6088536\/06088619.pdf?arnumber=6088619","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,12,19]],"date-time":"2021-12-19T01:37:31Z","timestamp":1639877851000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6088619\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,6]]},"references-count":32,"URL":"https:\/\/doi.org\/10.1109\/icar.2011.6088619","relation":{},"subject":[],"published":{"date-parts":[[2011,6]]}}}