{"id":"https://openalex.org/W2136291208","doi":null,"title":"The Synthesis of Stable Force-Closure Grasps","display_name":"The Synthesis of Stable Force-Closure Grasps","publication_year":1986,"publication_date":"1986-07-01","ids":{"openalex":"https://openalex.org/W2136291208","mag":"2136291208"},"language":"en","primary_location":{"id":"mag:2136291208","doi":null,"is_oa":false,"landing_page_url":"https://apps.dtic.mil/dtic/tr/fulltext/u2/a186419.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Van Trinh Nguyen","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Van Trinh Nguyen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2632,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.89222006,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":95},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9907000064849854,"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":0.9907000064849854,"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":0.005100000184029341,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.0010999999940395355,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/force-closure-grasp","display_name":"force-closure grasp","score":0.859000027179718},{"id":"https://openalex.org/keywords/grasp-planning","display_name":"grasp planning","score":0.8870000243186951},{"id":"https://openalex.org/keywords/virtual-springs","display_name":"virtual springs","score":0.8029999732971191},{"id":"https://openalex.org/keywords/contact-stiffness","display_name":"contact stiffness","score":0.621999979019165},{"id":"https://openalex.org/keywords/grasp-stability","display_name":"grasp stability","score":0.5260000228881836},{"id":"https://openalex.org/keywords/frictional-contact","display_name":"frictional contact","score":0.42100000381469727},{"id":"https://openalex.org/keywords/robotic-grasping","display_name":"robotic grasping","score":0.6079999804496765}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9065427780151367},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6319765448570251},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6081850528717041},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.5904872417449951},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5678081512451172},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4334450960159302},{"id":"https://openalex.org/C136560751","wikidata":"https://www.wikidata.org/wiki/Q1144923","display_name":"Virtual work","level":3,"score":0.4272347688674927},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.41567137837409973},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.359323114156723},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3565930426120758},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3004438281059265},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.28372636437416077},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23311132192611694},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2240259349346161},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20014071464538574},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.18356332182884216},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"mag:2136291208","doi":null,"is_oa":false,"landing_page_url":"https://apps.dtic.mil/dtic/tr/fulltext/u2/a186419.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7098890334","https://openalex.org/W1975184900","https://openalex.org/W3150748402","https://openalex.org/W2140173255","https://openalex.org/W2155892387","https://openalex.org/W2140493029","https://openalex.org/W1969459404","https://openalex.org/W2150936751","https://openalex.org/W2329887366","https://openalex.org/W155455619"],"abstract_inverted_index":{"Abstract":[0],":":[1],"The":[2,15,40,183],"thesis":[3],"addresses":[4],"the":[5,27,31,34,49,53,83,92,108,157,165,170,173,177,181,186,192,207],"problem":[6],"of":[7,17,24,33,42,70,85,100,136,169,176,185,194,206],"synthesizing":[8],"grasps":[9,20,44,144],"that":[10,30,52],"are":[11],"force-closure":[12,74,95,118,143],"and":[13,58,76,89,103,167,172],"stable.":[14],"synthesis":[16,41],"force":[18,102],"closure":[19],"constructs":[21,45],"independent":[22],"regions":[23],"contact":[25,195],"for":[26],"fingertips,":[28],"such":[29,51],"motion":[32],"grasped":[35,54],"object":[36,55,72],"is":[37,56,73,105,115,162],"totally":[38],"constrained.":[39],"stable":[43,66],"virtual":[46,178],"springs":[47,155,179],"at":[48,123,156,180],"contacts,":[50,86],"stable,":[57,148],"has":[59,122],"a":[60,111,117],"desired":[61],"stiffness":[62,168,184],"matrix":[63],"about":[64],"its":[65],"equilibrium.":[67],"A":[68,159],"grasp":[69,114,171,187],"an":[71],"if":[75,78,120],"only":[77],"we":[79],"can":[80,145],"exert,":[81],"through":[82],"set":[84],"arbitrary":[87],"forces":[88],"moments":[90],"on":[91,190],"object.":[93,208],"So":[94],"implies":[96],"equilibrium":[97,113],"exists":[98],"because":[99],"zero":[101],"moment":[104],"spanned.":[106],"In":[107],"reverse":[109],"direction,":[110],"non-marginal":[112],"also":[116,189],"grasp,":[119],"it":[121],"least":[124],"two":[125,133],"point":[126],"contacts":[127,135,139],"with":[128],"friction":[129,200],"in":[130,140],"2D,":[131],"or":[132,153,197,201,203],"soft-finger":[134],"three":[137],"hard-finger":[138],"3D.":[141],"All":[142],"be":[146],"made":[147],"by":[149],"using":[150],"either":[151],"active":[152],"passive":[154],"contacts.":[158,182],"simple":[160],"relation":[161],"developed":[163],"between":[164],"stability":[166],"spatial":[174],"configuration":[175],"depends":[188],"whether":[191],"points":[193],"stick,":[196],"slide":[198],"without":[199],"straight":[202],"curved":[204],"surfaces":[205]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}
