{"id":"https://openalex.org/W2089474943","doi":"https://doi.org/10.1002/rob.4620100606","title":"A linear complementarity approach to the articulated multifingered friction gripper","display_name":"A linear complementarity approach to the articulated multifingered friction gripper","publication_year":1993,"publication_date":"1993-09-01","ids":{"openalex":"https://openalex.org/W2089474943","doi":"https://doi.org/10.1002/rob.4620100606","mag":"2089474943"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620100606","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620100606","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/A5098328623","display_name":"A. M. Ai\u2010Fahed","orcid":null},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"A. M. Ai\u2010Fahed","raw_affiliation_strings":["School of Technology Aristotle University GR-54006 Thessaloniki, Greece","School of Technology Aristotle University GR\u201054006 Thessaloniki, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Technology Aristotle University GR-54006 Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]},{"raw_affiliation_string":"School of Technology Aristotle University GR\u201054006 Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102970224","display_name":"P. D. Panagiotopoulos","orcid":"https://orcid.org/0000-0003-0759-1352"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"P. D. Panagiotopoulos","raw_affiliation_strings":["School of Technology Aristotle University GR-54006 Thessaloniki, Greece Faculty of Mathematics and Physics R.W.T.H., W-5100 Aachen, Germany","School of Technology Aristotle University GR\u201054006 Thessaloniki, Greece Faculty of Mathematics and Physics R.W.T.H., W\u20105100 Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Technology Aristotle University GR-54006 Thessaloniki, Greece Faculty of Mathematics and Physics R.W.T.H., W-5100 Aachen, Germany","institution_ids":["https://openalex.org/I21370196"]},{"raw_affiliation_string":"School of Technology Aristotle University GR\u201054006 Thessaloniki, Greece Faculty of Mathematics and Physics R.W.T.H., W\u20105100 Aachen, Germany","institution_ids":["https://openalex.org/I21370196"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102970224"],"corresponding_institution_ids":["https://openalex.org/I21370196"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.24538364,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"6","first_page":"871","last_page":"887"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991000294685364,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9983999729156494,"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/complementarity","display_name":"Complementarity (molecular biology)","score":0.8437236547470093},{"id":"https://openalex.org/keywords/linear-complementarity-problem","display_name":"Linear complementarity problem","score":0.7627861499786377},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.7455670237541199},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5873357653617859},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39934787154197693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38164642453193665},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3504830598831177},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.33716562390327454},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27118629217147827},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20624679327011108},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15988394618034363},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1013534665107727},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.05292230844497681}],"concepts":[{"id":"https://openalex.org/C202269582","wikidata":"https://www.wikidata.org/wiki/Q2644277","display_name":"Complementarity (molecular biology)","level":2,"score":0.8437236547470093},{"id":"https://openalex.org/C34320192","wikidata":"https://www.wikidata.org/wiki/Q783105","display_name":"Linear complementarity problem","level":3,"score":0.7627861499786377},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7455670237541199},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5873357653617859},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39934787154197693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38164642453193665},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3504830598831177},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.33716562390327454},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27118629217147827},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20624679327011108},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15988394618034363},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1013534665107727},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.05292230844497681},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/rob.4620100606","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620100606","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":19,"referenced_works":["https://openalex.org/W584634945","https://openalex.org/W1964552838","https://openalex.org/W1996630649","https://openalex.org/W1999579984","https://openalex.org/W2023930905","https://openalex.org/W2030328335","https://openalex.org/W2038220101","https://openalex.org/W2047090956","https://openalex.org/W2061343052","https://openalex.org/W2093246563","https://openalex.org/W2101340781","https://openalex.org/W2115659120","https://openalex.org/W2144573888","https://openalex.org/W2156640143","https://openalex.org/W2168116254","https://openalex.org/W2243601119","https://openalex.org/W4212997115","https://openalex.org/W4253272843","https://openalex.org/W4292311687"],"related_works":["https://openalex.org/W2276648117","https://openalex.org/W819098253","https://openalex.org/W2599483915","https://openalex.org/W1548220668","https://openalex.org/W15122084","https://openalex.org/W2765841216","https://openalex.org/W2607337407","https://openalex.org/W1566966152","https://openalex.org/W169948756","https://openalex.org/W2078891263"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"article,":[3],"the":[4,26,39,53,66],"problem":[5,51],"of":[6,41],"grasping":[7],"by":[8,20],"an":[9],"articulated":[10],"multifingered":[11],"gripper":[12],"is":[13,56],"investigated.":[14],"The":[15,32,47],"fingers'":[16],"joints":[17],"are":[18,68],"idealized":[19],"angular":[21],"and":[22,28,44],"linear":[23,60],"springs":[24],"for":[25,52],"revolute":[27],"prismatic":[29],"joints,":[30],"respectively.":[31],"method,":[33],"which":[34],"was":[35],"developed":[36],"here,":[37],"considers":[38],"cases":[40],"both":[42],"hard":[43],"soft":[45],"fingers.":[46],"unilateral":[48],"frictional":[49],"contact":[50],"gripper\u2010object":[54],"system":[55],"formulated":[57],"as":[58],"a":[59],"complementarity":[61],"problem.":[62],"Numerical":[63],"examples":[64],"illustrating":[65],"theory":[67],"given.":[69]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2025-10-10T00:00:00"}