{"id":"https://openalex.org/W1995414376","doi":"https://doi.org/10.1177/0278364913512170","title":"Grasping deformable planar objects: Squeeze, stick/slip analysis, and energy-based optimalities","display_name":"Grasping deformable planar objects: Squeeze, stick/slip analysis, and energy-based optimalities","publication_year":2014,"publication_date":"2014-02-12","ids":{"openalex":"https://openalex.org/W1995414376","doi":"https://doi.org/10.1177/0278364913512170","mag":"1995414376"},"language":"en","primary_location":{"id":"doi:10.1177/0278364913512170","doi":"https://doi.org/10.1177/0278364913512170","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913512170","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-3","norway-1","poland-200","russia-white-list-1"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020782518","display_name":"Yan-Bin Jia","orcid":"https://orcid.org/0000-0002-0384-6058","observed_orcids":["https://orcid.org/0000-0002-0384-6058"]},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan-Bin Jia","raw_affiliation_strings":["Department of Computer Science, Iowa State University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Iowa State University, USA","institution_ids":["https://openalex.org/I173911158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000788715","display_name":"Feng Guo","orcid":"https://orcid.org/0000-0003-3106-2653","observed_orcids":["https://orcid.org/0000-0003-3106-2653","https://orcid.org/0000-0001-6320-3348"]},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Feng Guo","raw_affiliation_strings":["Department of Computer Science, Iowa State University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Iowa State University, USA","institution_ids":["https://openalex.org/I173911158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077166611","display_name":"Huan Lin","orcid":"https://orcid.org/0000-0002-6475-0842","observed_orcids":["https://orcid.org/0000-0002-6475-0842"]},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huan Lin","raw_affiliation_strings":["Department of Computer Science, Iowa State University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Iowa State University, USA","institution_ids":["https://openalex.org/I173911158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I173911158"],"apc_list":{"value":4400,"currency":"USD","value_usd":4400},"apc_paid":null,"fwci":4.3693,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.93730956,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":87,"max":98},"biblio":{"volume":"33","issue":"6","first_page":"866","last_page":"897"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9961000084877014,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9961000084877014,"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/T10868","display_name":"Soft Robotics and Applications","score":0.0010999999940395355,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.000699999975040555,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/robotic-grasping","display_name":"robotic grasping","score":0.8550000190734863},{"id":"https://openalex.org/keywords/deformable-bodies","display_name":"deformable objects","score":0.9860000014305115},{"id":"https://openalex.org/keywords/stick-slip-contact","display_name":"stick-slip contact","score":0.7020000219345093},{"id":"https://openalex.org/keywords/contact-mode","display_name":"contact mode","score":0.6100000143051147},{"id":"https://openalex.org/keywords/event-driven-algorithm","display_name":"event-driven algorithm","score":0.6539999842643738},{"id":"https://openalex.org/keywords/coulomb-friction","display_name":"Coulomb friction","score":0.9779999852180481},{"id":"https://openalex.org/keywords/linear-elasticity","display_name":"linear elasticity","score":0.6740000247955322},{"id":"https://openalex.org/keywords/potential-energy-minimization","display_name":"potential energy minimization","score":0.7099999785423279},{"id":"https://openalex.org/keywords/grasp-quality","display_name":"grasp quality","score":0.7250000238418579},{"id":"https://openalex.org/keywords/planar-objects","display_name":"planar objects","score":0.5720000267028809},{"id":"https://openalex.org/keywords/finite-element-analysis","display_name":"finite element analysis","score":0.5350000262260437}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.7645090818405151},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6942465901374817},{"id":"https://openalex.org/C2777984123","wikidata":"https://www.wikidata.org/wiki/Q9248237","display_name":"Pointwise","level":2,"score":0.6930614709854126},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6100814938545227},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5392163991928101},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5019068717956543},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.454009473323822},{"id":"https://openalex.org/C2777021972","wikidata":"https://www.wikidata.org/wiki/Q22976830","display_name":"Uniqueness","level":2,"score":0.4379875957965851},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.42769643664360046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35767972469329834},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3375088572502136},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31608450412750244},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26563000679016113},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2627071738243103},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19203338027000427},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18082064390182495},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.14771768450737},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.11827981472015381},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364913512170","doi":"https://doi.org/10.1177/0278364913512170","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913512170","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-3","norway-1","poland-200","russia-white-list-1"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.298.2479","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.298.2479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.iastate.edu/~jia/papers/IJRR13-submit.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.639.6693","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.639.6693","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.iastate.edu/~jia/papers/IJRR14.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":74,"referenced_works":["https://openalex.org/W47556920","https://openalex.org/W171428496","https://openalex.org/W615761646","https://openalex.org/W648511115","https://openalex.org/W774034202","https://openalex.org/W1485732691","https://openalex.org/W1487455380","https://openalex.org/W1569094508","https://openalex.org/W1569151178","https://openalex.org/W1571163910","https://openalex.org/W1597469550","https://openalex.org/W1820657498","https://openalex.org/W1925324831","https://openalex.org/W1938475800","https://openalex.org/W1974032213","https://openalex.org/W1979740015","https://openalex.org/W1981154266","https://openalex.org/W1981667747","https://openalex.org/W1990638940","https://openalex.org/W1993267444","https://openalex.org/W2013833162","https://openalex.org/W2018110063","https://openalex.org/W2029909232","https://openalex.org/W2035476608","https://openalex.org/W2039493915","https://openalex.org/W2048517616","https://openalex.org/W2049981393","https://openalex.org/W2050609926","https://openalex.org/W2052591588","https://openalex.org/W2056512656","https://openalex.org/W2056549531","https://openalex.org/W2061343052","https://openalex.org/W2071231324","https://openalex.org/W2076293036","https://openalex.org/W2078440814","https://openalex.org/W2092563264","https://openalex.org/W2093801937","https://openalex.org/W2100586030","https://openalex.org/W2101073745","https://openalex.org/W2101943205","https://openalex.org/W2106900371","https://openalex.org/W2113714378","https://openalex.org/W2115659120","https://openalex.org/W2116817751","https://openalex.org/W2118805798","https://openalex.org/W2121616950","https://openalex.org/W2122385549","https://openalex.org/W2125790828","https://openalex.org/W2126998703","https://openalex.org/W2129734754","https://openalex.org/W2137933599","https://openalex.org/W2140173255","https://openalex.org/W2141097672","https://openalex.org/W2143858177","https://openalex.org/W2158726602","https://openalex.org/W2161022959","https://openalex.org/W2162919943","https://openalex.org/W2165779102","https://openalex.org/W2165904300","https://openalex.org/W2167425734","https://openalex.org/W2170969000","https://openalex.org/W2171321911","https://openalex.org/W2405643909","https://openalex.org/W2494779131","https://openalex.org/W2603451981","https://openalex.org/W2896773124","https://openalex.org/W2970841758","https://openalex.org/W3000434570","https://openalex.org/W3023870838","https://openalex.org/W3146063729","https://openalex.org/W3211940072","https://openalex.org/W4231134982","https://openalex.org/W4251105474","https://openalex.org/W4376562541"],"related_works":["https://openalex.org/W7099747235","https://openalex.org/W2052591588","https://openalex.org/W2143858177","https://openalex.org/W2071231324","https://openalex.org/W7098274674","https://openalex.org/W144362347","https://openalex.org/W1756239644","https://openalex.org/W7097682356","https://openalex.org/W9702114","https://openalex.org/W2971446651"],"abstract_inverted_index":{"Robotic":[0],"grasping":[1,63,69,174],"of":[2,17,27,61,95,125,143,169],"deformable":[3,53],"objects":[4],"is":[5,164],"difficult":[6],"and":[7,40,122,186,198],"under-researched,":[8],"not":[9],"simply":[10],"due":[11],"to":[12,192],"the":[13,25,59,62,73,88,92,103,123,135,141,156,167,173,194],"high":[14],"computational":[15],"cost":[16],"modeling.":[18],"More":[19],"fundamentally,":[20],"several":[21],"issues":[22],"arise":[23],"with":[24,75],"deformation":[26,126,160],"an":[28],"object":[29,74,104],"being":[30],"grasped:":[31],"a":[32,68,98,116,128,178],"changing":[33],"wrench":[34],"space,":[35],"growing":[36],"finger":[37],"contact":[38,43,49,136,144],"areas,":[39],"pointwise":[41],"varying":[42],"modes":[44,142],"inside":[45],"these":[46],"areas.":[47],"Consequently,":[48],"constraints":[50,158],"needed":[51,157],"for":[52,91,159],"modeling":[54],"are":[55],"hardly":[56],"established":[57],"at":[58],"beginning":[60],"operation.":[64],"This":[65],"paper":[66],"presents":[67],"strategy":[70],"that":[71,102],"squeezes":[72],"two":[76],"fingers":[77,175],"under":[78,148],"specified":[79],"displacements":[80],"rather":[81],"than":[82],"forces.":[83],"A":[84],"\u2018stable\u2019":[85],"squeeze":[86,100,129],"minimizes":[87],"potential":[89],"energy":[90],"same":[93],"amount":[94,168],"squeezing,":[96],"while":[97],"\u2018pure\u2019":[99],"ensures":[101],"undergoes":[105],"no":[106],"rigid":[107],"body":[108],"motion":[109],"as":[110,138,140,155,166],"it":[111],"deforms.":[112],"Assuming":[113],"linear":[114],"elasticity,":[115],"finite":[117],"element":[118],"analysis":[119],"guarantees":[120],"equilibrium":[121],"uniqueness":[124],"during":[127],"action.":[130],"An":[131],"event-driven":[132],"algorithm":[133],"tracks":[134],"regions":[137],"well":[139],"in":[145,152,176],"their":[146],"interiors":[147],"Coulomb":[149],"friction,":[150],"which":[151],"turn":[153],"serve":[154],"update.":[161],"Grasp":[162],"quality":[163],"characterized":[165],"work":[170],"performed":[171],"by":[172,181],"resisting":[177],"known":[179],"push":[180],"some":[182],"adversary":[183],"finger.":[184],"Simulation":[185],"multiple":[187],"experiments":[188],"have":[189],"been":[190],"conducted":[191],"validate":[193],"results":[195],"over":[196],"solid":[197],"ring-like":[199],"2D":[200],"objects.":[201]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}