{"id":"https://openalex.org/W2145878076","doi":"https://doi.org/10.1002/rob.4620040602","title":"Static grip selection for robot\u2010based automated assembly systems","display_name":"Static grip selection for robot\u2010based automated assembly systems","publication_year":1987,"publication_date":"1987-12-01","ids":{"openalex":"https://openalex.org/W2145878076","doi":"https://doi.org/10.1002/rob.4620040602","mag":"2145878076"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620040602","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040602","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/A5113854451","display_name":"Shaheen Ahmad","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shaheen Ahmad","raw_affiliation_strings":["School of Electrical Engineering, Purdue University, West Lafayette, Indiana 47907","School of Electrical Engineering, Purdue University, West Lafayette, Indiana, 47907"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Purdue University, West Lafayette, Indiana 47907","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"School of Electrical Engineering, Purdue University, West Lafayette, Indiana, 47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111555541","display_name":"John T. Feddema","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John T. Feddema","raw_affiliation_strings":["School of Electrical Engineering, Purdue University, West Lafayette, Indiana 47907","School of Electrical Engineering, Purdue University, West Lafayette, Indiana, 47907"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Purdue University, West Lafayette, Indiana 47907","institution_ids":["https://openalex.org/I219193219"]},{"raw_affiliation_string":"School of Electrical Engineering, Purdue University, West Lafayette, Indiana, 47907","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5113854451"],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.28642679,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":"6","first_page":"687","last_page":"717"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.996399998664856,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9594359397888184},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7466395497322083},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6757499575614929},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6623941659927368},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6523644924163818},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.6209931373596191},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5829970240592957},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5647526383399963},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5275111794471741},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5099960565567017},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47619783878326416},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.46624770760536194},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4595540761947632},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4559328258037567},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36301863193511963},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.357564240694046},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10926875472068787},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10228347778320312},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09847626090049744},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07705312967300415}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9594359397888184},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7466395497322083},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6757499575614929},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6623941659927368},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6523644924163818},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.6209931373596191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5829970240592957},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5647526383399963},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5275111794471741},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5099960565567017},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47619783878326416},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.46624770760536194},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4595540761947632},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4559328258037567},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36301863193511963},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.357564240694046},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10926875472068787},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10228347778320312},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09847626090049744},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07705312967300415},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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":"doi:10.1002/rob.4620040602","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040602","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":12,"referenced_works":["https://openalex.org/W1556795538","https://openalex.org/W1800658182","https://openalex.org/W1933675402","https://openalex.org/W2001060923","https://openalex.org/W2091836083","https://openalex.org/W2096999249","https://openalex.org/W2098502158","https://openalex.org/W2114674309","https://openalex.org/W2129644801","https://openalex.org/W2140407107","https://openalex.org/W2143135670","https://openalex.org/W3022067750"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739","https://openalex.org/W3214990115","https://openalex.org/W1640559846","https://openalex.org/W3148362106","https://openalex.org/W4313405215","https://openalex.org/W2889998688"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"article":[3],"we":[4],"present":[5],"an":[6,15,18],"algorithmic":[7],"approach":[8],"to":[9,58,61],"determine":[10],"the":[11,27,32,42,63,79,96,100],"suitable":[12],"grasp":[13,83,91],"of":[14,68,81,103,132],"object":[16,29],"in":[17],"automated":[19],"assembly":[20],"environment.":[21],"The":[22],"algorithm":[23],"is":[24,84,92],"based":[25,125],"on":[26,126],"available":[28],"surfaces":[30],"and":[31,34,38,45,74],"initial":[33],"final":[35],"task":[36,44,73],"constraints":[37,47,76],"gripper":[39,46,75],"characteristics.":[40],"If":[41],"imposed":[43],"do":[48],"not":[49],"allow":[50],"a":[51,66,121],"possible":[52,69,101],"grasp,":[53],"intermediate":[54],"motions":[55],"may":[56],"need":[57],"be":[59,114],"made":[60],"reorient":[62],"part.":[64],"Once":[65],"set":[67,102],"grasps":[70],"which":[71,94],"statisfy":[72],"are":[77,109],"found,":[78],"stability":[80],"each":[82],"analyzed":[85],"using":[86],"screw":[87],"theory.":[88],"An":[89],"optimal":[90],"one":[93],"minimizes":[95],"grasping":[97,133],"forces":[98],"over":[99],"grasps.":[104],"Results":[105],"utilizing":[106],"our":[107],"methodology":[108],"presented.":[110],"Our":[111],"method":[112],"can":[113],"interfaced":[115],"with":[116],"CAD":[117],"database":[118],"such":[119],"as":[120],"solid":[122],"modelling":[123],"system":[124],"boundary":[127],"representation":[128],"for":[129],"automatic":[130],"selection":[131],"configurations.":[134]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
