{"id":"https://openalex.org/W2981073952","doi":"https://doi.org/10.1109/aim.2019.8868615","title":"Stable Grasping of Robotic hand using objective function","display_name":"Stable Grasping of Robotic hand using objective function","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2981073952","doi":"https://doi.org/10.1109/aim.2019.8868615","mag":"2981073952"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868615","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5018336080","display_name":"Dong-Eon Kim","orcid":"https://orcid.org/0000-0002-1674-1263"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong-Eon Kim","raw_affiliation_strings":["Electrical Engineering Department, Pusan National University, Busan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Pusan National University, Busan, Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035967912","display_name":"Ailing Li","orcid":"https://orcid.org/0009-0008-7853-5917"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ailing li","raw_affiliation_strings":["Electrical Engineering Department, Pusan National University, Busan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Pusan National University, Busan, Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063531535","display_name":"Jang-Myung Lee","orcid":"https://orcid.org/0000-0003-4290-8087"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jang-Myung Lee","raw_affiliation_strings":["Electrical Engineering Department, Pusan National University, Busan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Pusan National University, Busan, Korea","institution_ids":["https://openalex.org/I4921948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4921948"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.15728641,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":null,"first_page":"538","last_page":"543"},"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":0.991100013256073,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9787999987602234,"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/grasp","display_name":"GRASP","score":0.8371407389640808},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7170817255973816},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.653294563293457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6295128464698792},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6282477378845215},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5381518006324768},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5330535173416138},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5010178089141846},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.48141050338745117},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4555434584617615},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4390433132648468},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.41796964406967163},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3060239255428314},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21792110800743103},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09906664490699768}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8371407389640808},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7170817255973816},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.653294563293457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6295128464698792},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6282477378845215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5381518006324768},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5330535173416138},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5010178089141846},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.48141050338745117},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4555434584617615},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4390433132648468},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.41796964406967163},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3060239255428314},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21792110800743103},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09906664490699768},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2019.8868615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868615","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W337592134","https://openalex.org/W1706124764","https://openalex.org/W1977819772","https://openalex.org/W2016876803","https://openalex.org/W2094929996","https://openalex.org/W2116817751","https://openalex.org/W2144573888","https://openalex.org/W2161923944","https://openalex.org/W2313057471","https://openalex.org/W2414685554","https://openalex.org/W2514530494","https://openalex.org/W2734686976","https://openalex.org/W2808374543","https://openalex.org/W6611433978","https://openalex.org/W6726407295"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W2657478029","https://openalex.org/W3159512259","https://openalex.org/W2626503888","https://openalex.org/W2037306763","https://openalex.org/W2080808138","https://openalex.org/W4248427955"],"abstract_inverted_index":{"Optimal":[0],"grasping":[1,22,30,38,72,136,160,165],"point":[2,52],"selection":[3],"for":[4,40],"the":[5,10,13,17,19,21,25,29,36,57,60,65,70,80,85,90,95,98,101,104,114,117,127,134,139,143,146,154,163],"object":[6,42,61,99,115,128,144],"varies":[7],"depending":[8],"on":[9,56,84],"shape":[11],"of":[12,59,89,97,126,138],"object,":[14],"such":[15],"as":[16],"weight,":[18],"material,":[20],"contact":[23],"with":[24],"robot":[26,47,102,118,140],"hand,":[27,103],"and":[28,53,62,100,107,122,142],"force.":[31],"In":[32],"order":[33],"to":[34,112],"derive":[35],"optimal":[37,51,71,105,135],"points":[39,125],"each":[41],"by":[43,78,116],"a":[44],"gripper":[45],"type":[46],"hand":[48,63],"we":[49],"derived":[50,77],"posture":[54],"based":[55,83],"geometry":[58],"using":[64,145],"Artificial":[66],"Neural":[67],"Network.":[68],"Firstly,":[69],"cost":[73,81],"function":[74,82,88],"has":[75],"been":[76,110,130],"constructing":[79],"probability":[86],"density":[87],"normal":[91],"distribution.":[92],"Secondly,":[93],"considering":[94],"characteristics":[96],"height":[106],"width":[108],"have":[109,129],"set":[111],"grasp":[113],"hand.":[119],"The":[120],"geometrical":[121],"gravitational":[123],"center":[124],"considered":[131],"while":[132],"obtaining":[133],"position":[137],"finger":[141],"artificial":[147],"neural":[148],"network.":[149],"Final":[150],"experiment":[151],"shows":[152],"that":[153],"proposed":[155],"algorithm":[156],"owns":[157],"more":[158],"stable":[159],"operations":[161],"than":[162],"other":[164],"algorithm.":[166]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}