{"id":"https://openalex.org/W2074361779","doi":"https://doi.org/10.1002/rob.4620100706","title":"Force\u2010closed grasping with two hands","display_name":"Force\u2010closed grasping with two hands","publication_year":1993,"publication_date":"1993-10-01","ids":{"openalex":"https://openalex.org/W2074361779","doi":"https://doi.org/10.1002/rob.4620100706","mag":"2074361779"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620100706","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620100706","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/A5084693087","display_name":"Jose-Antonio Navarro Caraza","orcid":null},"institutions":[{"id":"https://openalex.org/I98461037","display_name":"Tecnol\u00f3gico de Monterrey","ror":"https://ror.org/03ayjn504","country_code":"MX","type":"education","lineage":["https://openalex.org/I98461037"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jos\u00e9\u2010Antonio N. Caraza","raw_affiliation_strings":["Centro de Sistemas de Manufactura ITESM Sucursal de Correos J 64849 Monterrey, NL., Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Sistemas de Manufactura ITESM Sucursal de Correos J 64849 Monterrey, NL., Mexico","institution_ids":["https://openalex.org/I98461037"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110579954","display_name":"Xiaoping Yun","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaoping Yun","raw_affiliation_strings":["Department of Computer and Information Science University of Pennsylvania Philadelphia, PA 19104","Department of Computer & Information Science University of Pennsylvania Philadelphia, PA 19104"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science University of Pennsylvania Philadelphia, PA 19104","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Computer & Information Science University of Pennsylvania Philadelphia, PA 19104","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23234171,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"7","first_page":"973","last_page":"990"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983000159263611,"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":0.9948999881744385,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6739928722381592},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6715238094329834},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.6472465991973877},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6463780403137207},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6390453577041626},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5735981464385986},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5595614910125732},{"id":"https://openalex.org/keywords/flat-surface","display_name":"Flat surface","score":0.5509310960769653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5069403648376465},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47314679622650146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46964046359062195},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4608440399169922},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4552520513534546},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3299369215965271},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2865254878997803},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2793402373790741},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24184489250183105},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2289435863494873},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18278279900550842},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17306289076805115},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.061098456382751465}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6739928722381592},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6715238094329834},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.6472465991973877},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6463780403137207},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6390453577041626},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5735981464385986},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5595614910125732},{"id":"https://openalex.org/C3018391215","wikidata":"https://www.wikidata.org/wiki/Q2449377","display_name":"Flat surface","level":2,"score":0.5509310960769653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5069403648376465},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47314679622650146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46964046359062195},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4608440399169922},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4552520513534546},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3299369215965271},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2865254878997803},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2793402373790741},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24184489250183105},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2289435863494873},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18278279900550842},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17306289076805115},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.061098456382751465},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620100706","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620100706","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W299000627","https://openalex.org/W1632036627","https://openalex.org/W1708644271","https://openalex.org/W2085545845","https://openalex.org/W2107493543","https://openalex.org/W2108534486","https://openalex.org/W2136291208","https://openalex.org/W2140173255","https://openalex.org/W2169003742","https://openalex.org/W2795674018","https://openalex.org/W3146380049"],"related_works":["https://openalex.org/W2051344763","https://openalex.org/W2018097953","https://openalex.org/W4310670043","https://openalex.org/W4360833773","https://openalex.org/W1994424541","https://openalex.org/W2156640143","https://openalex.org/W2032351411","https://openalex.org/W2014021871","https://openalex.org/W2526622367","https://openalex.org/W2139972980"],"abstract_inverted_index":{"Abstract":[0],"Two\u2010handed":[1],"grasping":[2,40,70],"of":[3,38,44,47,52,77],"rigid":[4],"objects":[5],"in":[6,14,28],"two\u2010dimensional":[7],"space":[8],"is":[9,31,65],"studied.":[10],"The":[11],"hands":[12],"considered":[13],"this":[15,29],"article":[16,30],"are":[17],"either":[18],"flat\u2010surface":[19],"palms":[20,59],"or":[21,60],"grippers":[22],"with":[23],"two":[24,79],"angular\u2010motion":[25],"fingers.":[26,61],"Presented":[27],"a":[32],"condition":[33],"that":[34,67],"establishes":[35],"the":[36,42,45,48,53,58,73,78],"existence":[37],"force\u2010closed":[39,69],"without":[41],"knowledge":[43],"shape":[46],"grasped":[49],"object":[50],"and":[51,75],"exact":[54],"contact":[55],"locations":[56],"on":[57,72],"Further,":[62],"an":[63],"algorithm":[64],"developed":[66],"determines":[68],"based":[71],"position":[74],"orientation":[76],"hands.":[80]},"counts_by_year":[],"updated_date":"2026-06-22T06:23:43.705686","created_date":"2025-10-10T00:00:00"}