{"id":"https://openalex.org/W2106282804","doi":"https://doi.org/10.1017/s0263574700017811","title":"A new representation for a robot grasping quality measure","display_name":"A new representation for a robot grasping quality measure","publication_year":1995,"publication_date":"1995-05-01","ids":{"openalex":"https://openalex.org/W2106282804","doi":"https://doi.org/10.1017/s0263574700017811","mag":"2106282804"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700017811","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700017811","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5024668825","display_name":"Venugopal Koikal Varma","orcid":"https://orcid.org/0000-0003-0903-7590"},"institutions":[{"id":"https://openalex.org/I1289243028","display_name":"Oak Ridge National Laboratory","ror":"https://ror.org/01qz5mb56","country_code":"US","type":"facility","lineage":["https://openalex.org/I1289243028","https://openalex.org/I1330989302","https://openalex.org/I39565521","https://openalex.org/I4210159294"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Venugopal K. Varma","raw_affiliation_strings":["Oak Ridge National Laboratory Oak Ridge, TN 37831-6304 (USA","Oak Ridge National Laboratory, Oak Ridge, TN 37831-6304, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oak Ridge National Laboratory Oak Ridge, TN 37831-6304 (USA","institution_ids":["https://openalex.org/I1289243028"]},{"raw_affiliation_string":"Oak Ridge National Laboratory, Oak Ridge, TN 37831-6304, USA","institution_ids":["https://openalex.org/I1289243028"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111773110","display_name":"Uri Tasch","orcid":null},"institutions":[{"id":"https://openalex.org/I79272384","display_name":"University of Maryland, Baltimore County","ror":"https://ror.org/02qskvh78","country_code":"US","type":"education","lineage":["https://openalex.org/I79272384"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Uri Tasch","raw_affiliation_strings":["University of Maryland, Baltimore County, Maryland (USA","University of Maryland Baltimore County, Maryland, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland, Baltimore County, Maryland (USA","institution_ids":["https://openalex.org/I79272384"]},{"raw_affiliation_string":"University of Maryland Baltimore County, Maryland, USA","institution_ids":["https://openalex.org/I79272384"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6507,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.8534514,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"13","issue":"3","first_page":"287","last_page":"295"},"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":0.9922000169754028,"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":0.9900000095367432,"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/grasp","display_name":"GRASP","score":0.8650935888290405},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6996363401412964},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.683954656124115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5596792697906494},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5574408769607544},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5386571288108826},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5285738110542297},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.49742868542671204},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4495127499103546},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4445464015007019},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4416530132293701},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.41253846883773804},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36418798565864563},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11232680082321167},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.07590347528457642}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8650935888290405},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6996363401412964},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.683954656124115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5596792697906494},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5574408769607544},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5386571288108826},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5285738110542297},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.49742868542671204},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4495127499103546},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4445464015007019},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4416530132293701},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.41253846883773804},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36418798565864563},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11232680082321167},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.07590347528457642},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700017811","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700017811","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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":16,"referenced_works":["https://openalex.org/W1794703952","https://openalex.org/W1964056897","https://openalex.org/W1969221914","https://openalex.org/W1974131758","https://openalex.org/W1977186231","https://openalex.org/W2013833162","https://openalex.org/W2048517616","https://openalex.org/W2049444139","https://openalex.org/W2055156887","https://openalex.org/W2061343052","https://openalex.org/W2091836083","https://openalex.org/W2107493543","https://openalex.org/W2115659120","https://openalex.org/W2116817751","https://openalex.org/W3041301710","https://openalex.org/W3189610221"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2657478029","https://openalex.org/W2080808138","https://openalex.org/W2626503888","https://openalex.org/W4387962997","https://openalex.org/W2129483190"],"abstract_inverted_index":{"Summary":[0],"When":[1],"an":[2],"object":[3,119],"is":[4,56],"held":[5],"by":[6,129],"a":[7,38,92],"multi-fingered":[8],"hand,":[9],"the":[10,13,27,33,48,53,59,64,68,71,74,96,101,118,131],"values":[11,99,126],"of":[12,32,41,47,61,67,73,95,117,134],"contact":[14],"forces":[15,55],"can":[16,35],"be":[17],"multivalued.":[18],"An":[19],"objective":[20,49,102],"function,":[21],"when":[22],"used":[23],"in":[24,51],"conjunction":[25],"with":[26],"frictional":[28],"and":[29,70,85,100,109,123],"geometric":[30],"constraints":[31],"grasp,":[34],"however,":[36],"give":[37],"unique":[39],"set":[40],"finger":[42,54,97,124],"force":[43,98,125],"values.":[44],"The":[45,89,114],"selection":[46],"function":[50],"determining":[52],"dependent":[57],"on":[58],"type":[60],"grasp":[62],"required,":[63],"material":[65],"properties":[66],"object,":[69],"limitations":[72],"r\u00f6bot":[75],"fingers.":[76],"In":[77],"this":[78],"paper":[79,90],"several":[80],"optimization":[81],"functions":[82,103],"are":[83,127],"studied":[84],"their":[86],"merits":[87],"highlighted.":[88],"introduces":[91],"graphical":[93],"representation":[94],"that":[104],"enable":[105],"one":[106],"to":[107],"select":[108],"compare":[110],"various":[111],"grasping":[112],"configurations.":[113],"impending":[115],"motion":[116],"at":[120],"different":[121],"torque":[122],"determined":[128],"observing":[130],"normalized":[132],"coefficient":[133],"friction":[135],"plots.":[136]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
