{"id":"https://openalex.org/W3030679777","doi":"https://doi.org/10.1007/978-3-030-43089-4_28","title":"Equilateral Three-Finger Caging of Polygonal Objects Using Contact Space Search","display_name":"Equilateral Three-Finger Caging of Polygonal Objects Using Contact Space Search","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3030679777","doi":"https://doi.org/10.1007/978-3-030-43089-4_28","mag":"3030679777"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-43089-4_28","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-43089-4_28","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},"type":"book-chapter","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/A5019523119","display_name":"Hallel A. Bunis","orcid":"https://orcid.org/0000-0003-2914-1889"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Hallel A. Bunis","raw_affiliation_strings":["Dept. of ME, Technion - Israel Institute of Technology, Maaleh Adumim, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of ME, Technion - Israel Institute of Technology, Maaleh Adumim, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049467216","display_name":"Elon Rimon","orcid":"https://orcid.org/0000-0002-8270-6167"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Elon D. Rimon","raw_affiliation_strings":["Dept. of ME, Technion - Israel Institute of Technology, Maaleh Adumim, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of ME, Technion - Israel Institute of Technology, Maaleh Adumim, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017715953","display_name":"Thomas F. Allen","orcid":"https://orcid.org/0000-0001-6359-3577"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thomas F. Allen","raw_affiliation_strings":["Pneubotics, San Francisco, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Pneubotics, San Francisco, United States","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002930599","display_name":"Joel W. Burdick","orcid":"https://orcid.org/0000-0002-3091-540X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joel W. Burdick","raw_affiliation_strings":["Dept. of ME, California Institute of Technology, Pasadena, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of ME, California Institute of Technology, Pasadena, United States","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8356,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.6677637,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"432","last_page":"447"},"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":0.9929999709129333,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9923999905586243,"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/equilateral-triangle","display_name":"Equilateral triangle","score":0.8708175420761108},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.777110755443573},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5831753015518188},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5658261775970459},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.478848934173584},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4713703393936157},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4611290991306305},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4326384663581848},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4284753203392029},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3801657557487488},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3320590853691101},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.278614342212677},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22560834884643555},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.2216072380542755},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09498074650764465}],"concepts":[{"id":"https://openalex.org/C146786541","wikidata":"https://www.wikidata.org/wiki/Q157002","display_name":"Equilateral triangle","level":2,"score":0.8708175420761108},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.777110755443573},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5831753015518188},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5658261775970459},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.478848934173584},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4713703393936157},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4611290991306305},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4326384663581848},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4284753203392029},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3801657557487488},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3320590853691101},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.278614342212677},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22560834884643555},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.2216072380542755},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09498074650764465},{"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:10.1007/978-3-030-43089-4_28","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-43089-4_28","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1971817741","https://openalex.org/W1981667747","https://openalex.org/W2135921905","https://openalex.org/W2163854193","https://openalex.org/W4252907012"],"related_works":["https://openalex.org/W3204326392","https://openalex.org/W2508087100","https://openalex.org/W3006458160","https://openalex.org/W372151222","https://openalex.org/W3102230940","https://openalex.org/W2163296013","https://openalex.org/W3161792707","https://openalex.org/W4251973223","https://openalex.org/W2066707154","https://openalex.org/W2086778274"],"abstract_inverted_index":null,"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}