{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:46:39Z","timestamp":1777715199096,"version":"3.51.4"},"reference-count":19,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[1991,12,1]],"date-time":"1991-12-01T00:00:00Z","timestamp":691545600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1991,12]]},"abstract":"<jats:p>Efficient simulation of a dynamically stable, fast-moving quadruped vehicle has been undertaken at The Ohio State University. Individual leg-link inertial properties, espe cially important at high speeds, are incorporated into the simulation. Also incorporated are the ground contact con siderations of compliance, friction, and impulsive impact forces. Basic efficiency is gained by decoupling of the closed-chain system into a tree-structured, open chain through introduction of spring\/damper systems at the ground. The ensuing tree-structure dynamics are solved by developing and applying an extended form of the effi cient O(N) open-chain algorithm of Brandl et al. (1986). Additional speedup in the computations is gained through application of multirate integration and parallelization. One second of real-time simulation on a single Intel iPSC\/ 2 Hypercube node takes 66.7 s. Use of multirate integra tion improves four-node parallel performance, giving a total speedup factor of more than 3.<\/jats:p>","DOI":"10.1177\/027836499101000603","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"619-627","source":"Crossref","is-referenced-by-count":40,"title":["Efficient Dynamic Simulation of a Quadruped Using a Decoupled Tree-Structure Approach"],"prefix":"10.1177","volume":"10","author":[{"given":"P.S.","family":"Freeman","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering The Ohio State University Columbus, Ohio 43210"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"D.E.","family":"Orin","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering The Ohio State University Columbus, Ohio 43210"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1991,12,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/2.30721"},{"key":"atypb2","volume-title":"Proceedings of IFAC\/IFIP\/IMACS International Symposium on the Theory of Robots","author":"Brandl, H."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200102"},{"key":"atypb4","volume-title":"Decoupled tree-structure approach to efficient dynamic simulation of a quadruped robotic vehicle","author":"Freeman, P.S.","year":"1989"},{"key":"atypb5","volume-title":"Numerical Initial Value Problems in Ordinary Differential Equations","author":"Gear, C.W.","year":"1971"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/41.20341"},{"key":"atypb7","volume-title":"Efficient dynamic simulation of multiple chain robotic systems. Ph.D. thesis","author":"Lilly, K.W.","year":"1989"},{"key":"atypb8","volume-title":"Proc. of the 3rd Annual Conf. on Aerospace Computational Control","author":"Lilly, K.W."},{"key":"atypb9","author":"McGhee, R.B.","year":"1984","journal-title":"Proc. of Symposium on Theory and Practice of Robots and Manipulators."},{"issue":"1","key":"atypb10","first-page":"533","volume":"4","author":"McGhee, R.B.","year":"1985","journal-title":"Unmanned Sys"},{"key":"atypb11","volume-title":"Proc. of the ASCE Engineering Mechanics Specialty Conference: Mechanics Computing in the 1990's and Beyond","author":"McMillan, S."},{"key":"atypb12","volume-title":"Proceedings of the 1986 IEEE International Conference on Robotics and Automation","author":"Oh, S.Y."},{"key":"atypb13","volume-title":"Numerical Recipes","author":"Press, W.H.","year":"1986"},{"key":"atypb14","volume-title":"Robots That Balance","author":"Raibert, M.H.","year":"1986"},{"key":"atypb15","unstructured":"Rodriguez, G., and Kreutz, K. 1988. Recursive mass matrix factorization and inversion: An operator approach to open- and closed-chain multibody dynamics. Tech. rep . 88-11, Jet Propulsion Laboratory, Pasadena, CA."},{"key":"atypb16","volume-title":"Dynamic modelling and simulation of mechanisms consisting of combined closed and open kinematic chains with compliance. Ph.D. thesis","author":"Shih, L.","year":"1986"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600403"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.1986.1105145"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139699"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499101000603","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499101000603","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:14:22Z","timestamp":1777457662000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499101000603"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,12]]},"references-count":19,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1991,12]]}},"alternative-id":["10.1177\/027836499101000603"],"URL":"https:\/\/doi.org\/10.1177\/027836499101000603","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1991,12]]}}}