{"id":"https://openalex.org/W4385147585","doi":"https://doi.org/10.1007/s10846-023-01911-5","title":"ROS End-Effector: A Hardware-Agnostic Software and Control Framework for Robotic End-Effectors","display_name":"ROS End-Effector: A Hardware-Agnostic Software and Control Framework for Robotic End-Effectors","publication_year":2023,"publication_date":"2023-07-22","ids":{"openalex":"https://openalex.org/W4385147585","doi":"https://doi.org/10.1007/s10846-023-01911-5"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-023-01911-5","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-023-01911-5","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01911-5.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01911-5.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034464428","display_name":"Davide Torielli","orcid":"https://orcid.org/0000-0002-9711-3006"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Davide Torielli","raw_affiliation_strings":["Department of Informatics, Bioengineering, Robotics, and Systems Engineering (DIBRIS), University of Genova, Via All\u2019Opera Pia, 13, Genova, 16145, Italy","Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia (IIT), Via S. Quirico, 19d, Genova, 16163, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9711-3006","affiliations":[{"raw_affiliation_string":"Department of Informatics, Bioengineering, Robotics, and Systems Engineering (DIBRIS), University of Genova, Via All\u2019Opera Pia, 13, Genova, 16145, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia (IIT), Via S. Quirico, 19d, Genova, 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003831513","display_name":"Liana Bertoni","orcid":"https://orcid.org/0000-0002-4611-1430"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Liana Bertoni","raw_affiliation_strings":["Department of Information Engineering (DII), University of Pisa, Via G. Caruso, 16, Pisa, 56122, Italy","Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia (IIT), Via S. Quirico, 19d, Genova, 16163, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4611-1430","affiliations":[{"raw_affiliation_string":"Department of Information Engineering (DII), University of Pisa, Via G. Caruso, 16, Pisa, 56122, Italy","institution_ids":["https://openalex.org/I108290504"]},{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia (IIT), Via S. Quirico, 19d, Genova, 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009069419","display_name":"Fabio Fusaro","orcid":"https://orcid.org/0000-0002-3909-7941"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Fusaro","raw_affiliation_strings":["Department of Electronics, Information, and Bioengineering (DEIB), Politecnico di Milano, Via Giuseppe Ponzio, 34, Milano, 20133, Italy","Human-Robot Interfaces and physical Interaction (HRI2), Istituto Italiano di Tecnologia (IIT), Via S. Quirico, 19d, Genova, 16163, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3909-7941","affiliations":[{"raw_affiliation_string":"Department of Electronics, Information, and Bioengineering (DEIB), Politecnico di Milano, Via Giuseppe Ponzio, 34, Milano, 20133, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Human-Robot Interfaces and physical Interaction (HRI2), Istituto Italiano di Tecnologia (IIT), Via S. Quirico, 19d, Genova, 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos Tsagarakis","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia (IIT), Via S. Quirico, 19d, Genova, 16163, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9877-8237","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia (IIT), Via S. Quirico, 19d, Genova, 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072560467","display_name":"Luca Muratore","orcid":"https://orcid.org/0000-0002-1265-3370"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Muratore","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia (IIT), Via S. Quirico, 19d, Genova, 16163, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1265-3370","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia (IIT), Via S. Quirico, 19d, Genova, 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5034464428"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I83816512"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":1.5725,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.8297591,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"108","issue":"4","first_page":null,"last_page":null},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9944999814033508,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9940000176429749,"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/robot-end-effector","display_name":"Robot end effector","score":0.8831138610839844},{"id":"https://openalex.org/keywords/effector","display_name":"Effector","score":0.7949350476264954},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5602138638496399},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5449896454811096},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5123337507247925},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.498260498046875},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.48208481073379517},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35459721088409424},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.35271352529525757},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3435920476913452},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.292053759098053},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.15743151307106018},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07438871264457703}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.8831138610839844},{"id":"https://openalex.org/C51785407","wikidata":"https://www.wikidata.org/wiki/Q2627568","display_name":"Effector","level":2,"score":0.7949350476264954},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5602138638496399},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5449896454811096},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5123337507247925},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.498260498046875},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.48208481073379517},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35459721088409424},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.35271352529525757},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3435920476913452},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.292053759098053},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.15743151307106018},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07438871264457703},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C95444343","wikidata":"https://www.wikidata.org/wiki/Q7141","display_name":"Cell biology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-023-01911-5","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-023-01911-5","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01911-5.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:iris.unige.it:11567/1142857","is_oa":false,"landing_page_url":"https://hdl.handle.net/11567/1142857","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1007/s10846-023-01911-5","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-023-01911-5","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01911-5.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G261761025","display_name":null,"funder_award_id":"732287 (ROS-Industrial)","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G2696811572","display_name":null,"funder_award_id":"732287","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322794","display_name":"Universit\u00e0 degli Studi di Genova","ror":"https://ror.org/0107c5v14"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4385147585.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W205345260","https://openalex.org/W564593119","https://openalex.org/W1510186039","https://openalex.org/W1808974695","https://openalex.org/W1967702609","https://openalex.org/W2003681620","https://openalex.org/W2004139909","https://openalex.org/W2015356556","https://openalex.org/W2027071444","https://openalex.org/W2053372911","https://openalex.org/W2076215121","https://openalex.org/W2090302437","https://openalex.org/W2106215490","https://openalex.org/W2126284968","https://openalex.org/W2130007788","https://openalex.org/W2138983671","https://openalex.org/W2154006563","https://openalex.org/W2192139261","https://openalex.org/W2261736307","https://openalex.org/W2482045586","https://openalex.org/W2910935384","https://openalex.org/W2943200793","https://openalex.org/W3004078761","https://openalex.org/W3015991193","https://openalex.org/W3194425958","https://openalex.org/W3214483539","https://openalex.org/W4205298187","https://openalex.org/W4205443786","https://openalex.org/W4246438230"],"related_works":["https://openalex.org/W4320492283","https://openalex.org/W1530034981","https://openalex.org/W4214695225","https://openalex.org/W3197607994","https://openalex.org/W2783284266","https://openalex.org/W4380992933","https://openalex.org/W4309090929","https://openalex.org/W3020059968","https://openalex.org/W2171209136","https://openalex.org/W2566177767"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"recent":[2],"years,":[3],"several":[4],"robotic":[5,88,205],"end-effectors":[6,89,181,195],"have":[7],"been":[8],"developed":[9,53],"and":[10,65,100,115,125,158,187],"made":[11],"available":[12],"in":[13,19,112,177,184,228],"the":[14,44,56,70,121,129,167,209,212,220,223],"market.":[15],"Nevertheless,":[16],"their":[17],"adoption":[18],"industrial":[20],"context":[21],"is":[22],"still":[23],"limited":[24],"due":[25],"to":[26,42,54,119,127,203],"a":[27,84,113,132,192,215,230],"burdensome":[28],"integration,":[29],"which":[30],"strongly":[31],"relies":[32],"on":[33,142],"customized":[34,116],"software":[35,145],"modules":[36,146],"specific":[37],"for":[38],"each":[39,110],"end-effector.":[40],"Indeed,":[41],"enable":[43],"functionalities":[45],"of":[46,82,87,90,134,169,194,217,222],"these":[47],"end-effectors,":[48],"dedicated":[49],"interfaces":[50,154,161],"must":[51],"be":[52],"consider":[55],"different":[57,91,114,179],"end-effector":[58,111,130,171,232],"characteristics,":[59,198],"like":[60],"finger":[61,98],"kinematics,":[62],"actuation":[63],"systems,":[64],"communication":[66],"protocols.":[67],"To":[68],"face":[69],"challenges":[71],"described":[72],"above,":[73],"we":[74],"present":[75],"ROS":[76,104,163],"End-Effector,":[77],"an":[78],"open-source":[79],"framework":[80,175,224],"capable":[81],"accommodating":[83],"wide":[85],"range":[86],"grasping":[92,136],"capabilities":[93,176],"(grasping,":[94],"pinching,":[95],"or":[96],"independent":[97],"dexterity)":[99],"hardware":[101,123,143,148,189],"characteristics.":[102],"The":[103,173],"End-Effector":[105,164],"framework,":[106],"rather":[107],"than":[108],"controlling":[109],"way,":[117],"allows":[118],"mask":[120],"physical":[122],"differences":[124],"permits":[126],"control":[128],"using":[131,191],"set":[133,216],"high-level":[135],"primitives":[137],"automatically":[138],"extracted.":[139],"By":[140],"leveraging":[141],"agnostic":[144],"including":[147],"abstraction":[149],"layer":[150],"(HAL),":[151],"application":[152],"programming":[153],"(APIs),":[155],"simulation":[156],"tools":[157],"graphical":[159],"user":[160,210],"(GUIs),":[162],"effectively":[165],"facilitates":[166],"integration":[168],"diverse":[170,197],"devices.":[172],"proposed":[174],"supporting":[178],"robotics":[180],"are":[182],"demonstrated":[183],"both":[185],"simulated":[186],"real":[188],"experiments":[190],"variety":[193],"with":[196],"ranging":[199],"from":[200,208],"under-actuated":[201],"grippers":[202],"anthropomorphic":[204],"hands.":[206],"Finally,":[207],"perspective,":[211],"manuscript":[213],"provides":[214],"examples":[218],"about":[219],"use":[221],"showing":[225],"its":[226],"flexibility":[227],"integrating":[229],"new":[231],"module.":[233]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5}],"updated_date":"2026-05-23T08:51:43.019350","created_date":"2025-10-10T00:00:00"}
