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<dc:title xml:lang="pl"><![CDATA[A general on-the-fly algorithm for modifying the kinematic tree hierarchy]]></dc:title>
<dc:creator><![CDATA[Stępień, Jakub (1997- )]]></dc:creator>
<dc:creator><![CDATA[Polański, Andrzej]]></dc:creator>
<dc:creator><![CDATA[Wojciechowski, Konrad]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[dynamics]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[articulated system]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[rigid bodies]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[system hierarchy]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[contact]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[animation]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with the environment. The proposed algorithm adjusts model connectivity, geometry and current state, producing its equivalent ready to be used by the simulation procedure. Furthermore, we also provide a simple usage scenario - a passive planar biped walker.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Korbicz, Józef (1951- ) - red.]]></dc:contributor>
<dc:contributor><![CDATA[Uciński, Dariusz - red.]]></dc:contributor>
<dc:date><![CDATA[2012]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/46992/AMCS_2012_22_2_15.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/55097/edition/46992/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:46992]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, Volume 22, Number 2 (2012)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=paper&paper=623]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:55097]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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