{"id":"https://openalex.org/W2015342631","doi":"https://doi.org/10.1109/amc.2010.5464029","title":"A joint angle sensorless grasping control on two-fingered robot hands","display_name":"A joint angle sensorless grasping control on two-fingered robot hands","publication_year":2010,"publication_date":"2010-03-01","ids":{"openalex":"https://openalex.org/W2015342631","doi":"https://doi.org/10.1109/amc.2010.5464029","mag":"2015342631"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2010.5464029","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464029","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-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/A5028362471","display_name":"Kenichi Sonoda","orcid":null},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"KenIchi Sonoda","raw_affiliation_strings":["Shibaura Institute of Technology, Minato, Tokyo, Japan","Shibaura Institute of Technology, Shibaura 3-9-14, Minato-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Shibaura Institute of Technology, Minato, Tokyo, Japan","institution_ids":["https://openalex.org/I171481255"]},{"raw_affiliation_string":"Shibaura Institute of Technology, Shibaura 3-9-14, Minato-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I171481255"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103441850","display_name":"Akira Shimada","orcid":null},"institutions":[{"id":"https://openalex.org/I171481255","display_name":"Shibaura Institute of Technology","ror":"https://ror.org/020wjcq07","country_code":"JP","type":"education","lineage":["https://openalex.org/I171481255"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akira Shimada","raw_affiliation_strings":["Shibaura Institute of Technology, Minato, Tokyo, Japan","Shibaura Institute of Technology, Shibaura 3-9-14, Minato-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Shibaura Institute of Technology, Minato, Tokyo, Japan","institution_ids":["https://openalex.org/I171481255"]},{"raw_affiliation_string":"Shibaura Institute of Technology, Shibaura 3-9-14, Minato-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I171481255"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5028362471"],"corresponding_institution_ids":["https://openalex.org/I171481255"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.08107497,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"774","last_page":"779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9980999827384949,"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","display_name":"Robot","score":0.6190168261528015},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6039186120033264},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5802565813064575},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49732163548469543},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.49665480852127075},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4960528314113617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4631822109222412},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4581015408039093},{"id":"https://openalex.org/keywords/rotary-encoder","display_name":"Rotary encoder","score":0.4465555250644684},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4344383478164673},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.426340252161026},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3229601979255676},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2866889238357544},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2140730321407318}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6190168261528015},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6039186120033264},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5802565813064575},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49732163548469543},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.49665480852127075},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4960528314113617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4631822109222412},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4581015408039093},{"id":"https://openalex.org/C37488316","wikidata":"https://www.wikidata.org/wiki/Q53699","display_name":"Rotary encoder","level":3,"score":0.4465555250644684},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4344383478164673},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.426340252161026},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3229601979255676},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2866889238357544},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2140730321407318},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2010.5464029","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464029","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W1496777766","https://openalex.org/W1564897360","https://openalex.org/W1994732751","https://openalex.org/W2030247426","https://openalex.org/W2331358848","https://openalex.org/W2396303601","https://openalex.org/W2574896240","https://openalex.org/W6712210406"],"related_works":["https://openalex.org/W2092896760","https://openalex.org/W2068021791","https://openalex.org/W2373662871","https://openalex.org/W2168195809","https://openalex.org/W998225366","https://openalex.org/W2313879336","https://openalex.org/W4205612800","https://openalex.org/W2322736329","https://openalex.org/W1972118934","https://openalex.org/W2334580170"],"abstract_inverted_index":{"This":[0,160],"paper":[1,161],"introduces":[2],"a":[3],"sensor-less":[4],"grasping":[5],"control":[6,114,148],"technique":[7,115,149,165],"on":[8],"two-finger":[9],"robot":[10,20,54,85,153],"hands":[11,21,29,55,86],"with":[12,156],"visual":[13],"feedback":[14],"control.":[15],"A":[16],"great":[17],"number":[18],"of":[19,27,33,46,53,138,173],"have":[22,109],"been":[23,132],"developed":[24,133],"and":[25,41,56,67,125,166],"most":[26],"the":[28,47,51,58,61,95,100,146,163],"mount":[30],"many":[31,48],"kind":[32],"sensors,":[34,40],"such":[35],"as":[36,82],"rotary":[37],"encoders,":[38],"tactile":[39],"force":[42],"sensors.":[43],"However,":[44],"use":[45],"sensors":[49,98],"increase":[50],"cost":[52],"decrease":[57],"reliance.":[59],"On":[60],"other":[62],"hand,":[63],"when":[64],"we":[65,72,142],"observe":[66],"assemble":[68],"some":[69,103,157,168],"object":[70],"carefully,":[71],"gaze":[73],"at":[74],"it":[75,130],"but":[76,129],"not":[77,92],"watch":[78],"our":[79],"fingers.":[80],"Thenfore,":[81],"an":[83,111],"analogy,":[84],"for":[87,116,135,171],"observation":[88],"or":[89],"assembling":[90],"may":[91],"always":[93],"need":[94],"joint":[96],"angle":[97],"if":[99],"system":[101],"has":[102,131],"vision":[104,158],"sensor.":[105],"Meanwhile,":[106],"Shimada":[107],"et.al.":[108],"presented":[110],"unique":[112],"sensorless":[113,147],"electric":[117],"motor":[118],"driven":[119],"mechanical":[120],"systems.":[121,140,159],"It":[122],"is":[123],"useful":[124],"easy":[126],"to":[127,144,150],"install":[128],"only":[134],"single":[136],"degree":[137],"freedom":[139],"Then,":[141],"try":[143],"extend":[145],"practical":[151],"multi-finger":[152],"hand":[154],"systems":[155],"describes":[162],"basic":[164],"show":[167],"simulation":[169],"results":[170],"evaluation":[172],"validity.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}