{"id":"https://openalex.org/W1987878565","doi":"https://doi.org/10.1002/(sici)1097-4563(199909)16:9<509::aid-rob4>3.0.co;2-k","title":"On the grasping stability and optimality under external perturbations","display_name":"On the grasping stability and optimality under external perturbations","publication_year":1999,"publication_date":"1999-09-01","ids":{"openalex":"https://openalex.org/W1987878565","doi":"https://doi.org/10.1002/(sici)1097-4563(199909)16:9<509::aid-rob4>3.0.co;2-k","mag":"1987878565"},"language":"en","primary_location":{"id":"doi:10.1002/(sici)1097-4563(199909)16:9<509::aid-rob4>3.0.co;2-k","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199909)16:9<509::aid-rob4>3.0.co;2-k","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"article","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/A5110358919","display_name":"Maw-Kae Hor","orcid":null},"institutions":[{"id":"https://openalex.org/I4210098366","display_name":"Institute of Information Science, Academia Sinica","ror":"https://ror.org/00z83z196","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210098366","https://openalex.org/I84653119"]},{"id":"https://openalex.org/I84653119","display_name":"Academia Sinica","ror":"https://ror.org/05bxb3784","country_code":"TW","type":"facility","lineage":["https://openalex.org/I84653119"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Maw-kae Hor","raw_affiliation_strings":["Institute of Information Science, Academia Sinica, Taipei, Taiwan, Republic of China","Institute of Information Science, Academia Sinica,#N#Taipei, Taiwan, Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information Science, Academia Sinica, Taipei, Taiwan, Republic of China","institution_ids":["https://openalex.org/I4210098366"]},{"raw_affiliation_string":"Institute of Information Science, Academia Sinica,#N#Taipei, Taiwan, Republic of China","institution_ids":["https://openalex.org/I84653119"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086039024","display_name":"Shiaw-Chian Wu","orcid":"https://orcid.org/0000-0002-5467-5236"},"institutions":[{"id":"https://openalex.org/I4210098366","display_name":"Institute of Information Science, Academia Sinica","ror":"https://ror.org/00z83z196","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210098366","https://openalex.org/I84653119"]},{"id":"https://openalex.org/I84653119","display_name":"Academia Sinica","ror":"https://ror.org/05bxb3784","country_code":"TW","type":"facility","lineage":["https://openalex.org/I84653119"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Shiaw-Chian Wu","raw_affiliation_strings":["Institute of Information Science, Academia Sinica, Taipei, Taiwan, Republic of China","Institute of Information Science, Academia Sinica,#N#Taipei, Taiwan, Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information Science, Academia Sinica, Taipei, Taiwan, Republic of China","institution_ids":["https://openalex.org/I4210098366"]},{"raw_affiliation_string":"Institute of Information Science, Academia Sinica,#N#Taipei, Taiwan, Republic of China","institution_ids":["https://openalex.org/I84653119"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5110358919"],"corresponding_institution_ids":["https://openalex.org/I4210098366","https://openalex.org/I84653119"],"apc_list":null,"apc_paid":null,"fwci":1.5548,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81785598,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"16","issue":"9","first_page":"509","last_page":"526"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9868999719619751,"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9782000184059143,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8249677419662476},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.7718379497528076},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5337703227996826},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5092264413833618},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48549631237983704},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.395523339509964},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3934767544269562},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3372696340084076},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18846207857131958},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09438970685005188}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8249677419662476},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.7718379497528076},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5337703227996826},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5092264413833618},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48549631237983704},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.395523339509964},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3934767544269562},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3372696340084076},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18846207857131958},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09438970685005188},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/(sici)1097-4563(199909)16:9<509::aid-rob4>3.0.co;2-k","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199909)16:9<509::aid-rob4>3.0.co;2-k","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1489844845","https://openalex.org/W1594182762","https://openalex.org/W1727231554","https://openalex.org/W1794703952","https://openalex.org/W1917915433","https://openalex.org/W1975184900","https://openalex.org/W2013833162","https://openalex.org/W2093801937","https://openalex.org/W2097919418","https://openalex.org/W2112827257","https://openalex.org/W2114025847","https://openalex.org/W2115659120","https://openalex.org/W2116817751","https://openalex.org/W2140173255","https://openalex.org/W2141878256","https://openalex.org/W2148073457","https://openalex.org/W2159314212","https://openalex.org/W2610160453","https://openalex.org/W3189610221","https://openalex.org/W4285719527","https://openalex.org/W6744042712"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W4387947522"],"abstract_inverted_index":{"There":[0],"are":[1,198,219],"two":[2],"types":[3],"of":[4,29,37,42,65,78,91,157,175,224],"grasping":[5,12,17,57,79,159,170,188],"analysis":[6],"in":[7,74,99,200],"robotics":[8],"research:":[9],"find":[10,25],"the":[11,16,21,30,35,38,56,63,76,89,96,106,132,138,155,168,186,204,207,214,222,225],"force":[13],"distributions":[14],"among":[15],"fingers":[18],"when":[19,33],"given":[20,34,220],"contact":[22,31],"points":[23,32],"and":[24,48,59,195,213],"a":[26,146,173,182],"good":[27],"set":[28,174],"shape":[36],"object.":[39],"Each":[40],"kind":[41],"problem":[43],"is":[44,72,116,126],"associated":[45],"with":[46],"optimality":[47,60],"stability":[49,58],"analysis.":[50,101],"In":[51],"this":[52,120,142,164],"article,":[53],"we":[54,87,144],"investigate":[55],"issues":[61],"under":[62,81],"influence":[64],"external":[66,82,133],"perturbations.":[67,83],"A":[68,102,122],"rotation-displacement":[69],"geometry":[70],"model":[71],"used":[73,152],"computing":[75],"changes":[77],"forces":[80,111],"Using":[84],"these":[85],"results,":[86],"present":[88],"concept":[90],"perturbation":[92,109,176,205,210,215],"closure,":[93,206],"which":[94,184],"plays":[95],"central":[97],"role":[98],"our":[100,229],"method":[103,183],"for":[104,113,202],"finding":[105],"local":[107,208],"minimal":[108,209],"resisting":[110,177,211,216],"required":[112],"non-slip":[114],"contacts":[115],"developed":[117],"based":[118],"on":[119,141],"concept.":[121],"grasp":[123],"so":[124],"determined":[125],"guaranteed":[127],"to":[128,153,166,190,227],"be":[129,151,191],"stable":[130],"if":[131],"perturbations":[134],"do":[135],"not":[136],"exceed":[137],"threshold.":[139],"Based":[140],"property,":[143],"develop":[145],"quantitative":[147],"measurement":[148,165],"that":[149],"can":[150,162],"evaluate":[154],"performance":[156],"different":[158],"configurations.":[160],"One":[161],"use":[163],"determine":[167],"best":[169],"configuration":[171,189],"from":[172],"grasps.":[178],"This":[179],"actually":[180],"gives":[181],"enables":[185],"optimal":[187],"found.":[192],"Both":[193],"two-dimensional":[194],"three-dimensional":[196],"cases":[197],"discussed":[199],"detail":[201],"determining":[203],"force,":[212],"grasp.":[217],"Examples":[218],"at":[221],"end":[223],"article":[226],"illustrate":[228],"idea.":[230],"\u00a91999":[231],"John":[232],"Wiley":[233],"&":[234],"Sons,":[235],"Inc.":[236]},"counts_by_year":[],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}