{"id":"https://openalex.org/W2771301254","doi":"https://doi.org/10.1109/access.2017.2781698","title":"Simultaneous Robot-World, Sensor-Tip, and Kinematics Calibration of an Underactuated Robotic Hand With Soft Fingers","display_name":"Simultaneous Robot-World, Sensor-Tip, and Kinematics Calibration of an Underactuated Robotic Hand With Soft Fingers","publication_year":2017,"publication_date":"2017-12-11","ids":{"openalex":"https://openalex.org/W2771301254","doi":"https://doi.org/10.1109/access.2017.2781698","mag":"2771301254"},"language":"en","primary_location":{"id":"doi:10.1109/access.2017.2781698","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2017.2781698","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2017.2781698","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100741008","display_name":"Ning Tan","orcid":"https://orcid.org/0000-0003-0710-6409"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Ning Tan","raw_affiliation_strings":["National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080883308","display_name":"Xiaoyi Gu","orcid":"https://orcid.org/0000-0003-4257-3555"},"institutions":[{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]},{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Xiaoyi Gu","raw_affiliation_strings":["National University of Singapore Suzhou Research Institute, Suzhou, China","National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore Suzhou Research Institute, Suzhou, China","institution_ids":["https://openalex.org/I4210125878","https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I4210125878","display_name":"Suzhou Research Institute","ror":"https://ror.org/03ebk0c60","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210125878"]},{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["National University of Singapore Suzhou Research Institute, Suzhou, China","National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore Suzhou Research Institute, Suzhou, China","institution_ids":["https://openalex.org/I4210125878","https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100741008"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.0393,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.86426154,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"6","issue":null,"first_page":"22705","last_page":"22715"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9977999925613403,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9968000054359436,"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/underactuation","display_name":"Underactuation","score":0.8316376805305481},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6802551746368408},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6404961943626404},{"id":"https://openalex.org/keywords/identifiability","display_name":"Identifiability","score":0.6358469128608704},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6338362097740173},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6130815744400024},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5553354024887085},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5545912981033325},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5511271357536316},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.47318243980407715},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44801515340805054},{"id":"https://openalex.org/keywords/differential-evolution","display_name":"Differential evolution","score":0.43503570556640625},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40640661120414734},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17467078566551208},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16451320052146912},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1602000892162323},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.10506099462509155},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08792471885681152},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07245829701423645}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8316376805305481},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6802551746368408},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6404961943626404},{"id":"https://openalex.org/C122770356","wikidata":"https://www.wikidata.org/wiki/Q1656753","display_name":"Identifiability","level":2,"score":0.6358469128608704},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6338362097740173},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6130815744400024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5553354024887085},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5545912981033325},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5511271357536316},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.47318243980407715},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44801515340805054},{"id":"https://openalex.org/C74750220","wikidata":"https://www.wikidata.org/wiki/Q2662197","display_name":"Differential evolution","level":2,"score":0.43503570556640625},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40640661120414734},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17467078566551208},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16451320052146912},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1602000892162323},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10506099462509155},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08792471885681152},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07245829701423645},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2017.2781698","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2017.2781698","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b486b5d793e34d1186180322b61436e1","is_oa":true,"landing_page_url":"https://doaj.org/article/b486b5d793e34d1186180322b61436e1","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 6, Pp 22705-22715 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2017.2781698","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2017.2781698","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7675724147","display_name":null,"funder_award_id":"ONRG-NICOP-N62909-15-1-2029 / WBS#R-719-000-008-597 (SeaCAT)","funder_id":"https://openalex.org/F4320338298","funder_display_name":"Office of Naval Research Global"}],"funders":[{"id":"https://openalex.org/F4320338298","display_name":"Office of Naval Research Global","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1595159159","https://openalex.org/W2046821641","https://openalex.org/W2065693146","https://openalex.org/W2072884984","https://openalex.org/W2084387117","https://openalex.org/W2093220968","https://openalex.org/W2110761225","https://openalex.org/W2111079173","https://openalex.org/W2126721296","https://openalex.org/W2127220039","https://openalex.org/W2128316619","https://openalex.org/W2139442815","https://openalex.org/W2156194072","https://openalex.org/W2158288882","https://openalex.org/W2165214338","https://openalex.org/W2168686184","https://openalex.org/W2181440999","https://openalex.org/W2185796675","https://openalex.org/W2243037613","https://openalex.org/W2294666031","https://openalex.org/W2326047893","https://openalex.org/W2344590414","https://openalex.org/W2460495915","https://openalex.org/W2460769332","https://openalex.org/W2508966285","https://openalex.org/W2536664448","https://openalex.org/W2547439543","https://openalex.org/W2560730116","https://openalex.org/W2567812607","https://openalex.org/W2610305606","https://openalex.org/W2621138527","https://openalex.org/W2743321363","https://openalex.org/W2793703784","https://openalex.org/W6683604425","https://openalex.org/W6738824336","https://openalex.org/W6742274053"],"related_works":["https://openalex.org/W2724847603","https://openalex.org/W2034041141","https://openalex.org/W2184661725","https://openalex.org/W2573470972","https://openalex.org/W112856298","https://openalex.org/W2105626102","https://openalex.org/W2131038454","https://openalex.org/W4240568257","https://openalex.org/W2900187352","https://openalex.org/W1996342314"],"abstract_inverted_index":{"Soft":[0],"robotics":[1],"is":[2,29,91,110],"a":[3,38,77,84,148],"research":[4],"field":[5],"growing":[6],"rapidly":[7],"with":[8,43,61,99],"primary":[9],"focuses":[10],"on":[11,80,116,155],"the":[12,44,50,81,100,108,140,144,156],"prototype":[13],"design,":[14],"development":[15],"of":[16,56,83,107],"soft":[17,62,85,158],"robots":[18,36],"and":[19,33,52,112,122,125,164],"their":[20,24],"applications.":[21],"Due":[22],"to":[23,31,138],"highly":[25],"deformable":[26],"features,":[27],"it":[28],"difficult":[30],"model":[32],"control":[34],"such":[35],"in":[37,147],"very":[39],"precise":[40],"way":[41],"compared":[42],"conventional":[45],"rigid":[46],"structured":[47],"robots.":[48],"Hence,":[49],"calibration":[51,82,89,113],"parameter":[53,141],"identification":[54,142],"problems":[55],"an":[57,94],"underactuated":[58],"robotic":[59,86],"hand":[60],"fingers":[63],"are":[64,131,136,153,167],"important,":[65],"but":[66],"have":[67],"not":[68],"been":[69],"investigated":[70],"intensively.":[71],"In":[72],"this":[73],"paper,":[74],"we":[75],"present":[76],"comparative":[78,149],"study":[79],"hand.":[87],"The":[88,105,151,161],"problem":[90,98],"framed":[92],"as":[93,169],"AX":[95],"=":[96],"YB":[97],"partially":[101],"known":[102],"matrix":[103],"A.":[104],"identifiability":[106],"parameters":[109],"analyzed,":[111],"methods":[114,146],"based":[115],"nonlinear":[117],"optimization":[118],"(i.e.,":[119,128],"Levenberg-Marquardt":[120],"method":[121],"interior-point":[123],"method)":[124],"evolutionary":[126],"computation":[127],"differential":[129],"evolution)":[130],"presented.":[132],"Extensive":[133],"simulation":[134],"tests":[135],"performed":[137],"examine":[139],"using":[143],"three":[145],"way.":[150],"experiments":[152],"conducted":[154],"real":[157],"robotic-hand":[159],"setup.":[160],"fitting,":[162],"interpolating,":[163],"extrapolating":[165],"errors":[166],"presented":[168],"well.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
