{"id":"https://openalex.org/W3099137567","doi":"https://doi.org/10.1109/amc44022.2020.9244433","title":"Minimum-Energy State Determination of an Underactuated Suction Cup Gripper Grid","display_name":"Minimum-Energy State Determination of an Underactuated Suction Cup Gripper Grid","publication_year":2020,"publication_date":"2020-09-14","ids":{"openalex":"https://openalex.org/W3099137567","doi":"https://doi.org/10.1109/amc44022.2020.9244433","mag":"3099137567"},"language":"en","primary_location":{"id":"doi:10.1109/amc44022.2020.9244433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc44022.2020.9244433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","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/A5024353487","display_name":"Gudmundur G. Gunnarsson","orcid":null},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Gudmundur G. Gunnarsson","raw_affiliation_strings":["The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark","institution_ids":["https://openalex.org/I177969490","https://openalex.org/I184886455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058044864","display_name":"Henrik Gordon Petersen","orcid":"https://orcid.org/0000-0002-0425-170X"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Henrik G. Petersen","raw_affiliation_strings":["The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark","institution_ids":["https://openalex.org/I177969490","https://openalex.org/I184886455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.19636683,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"213","last_page":"218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9950000047683716,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9950000047683716,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9925000071525574,"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"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9886000156402588,"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/actuator","display_name":"Actuator","score":0.7150481343269348},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7078961133956909},{"id":"https://openalex.org/keywords/aerospace","display_name":"Aerospace","score":0.5586622953414917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5012774467468262},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4690103232860565},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.43411991000175476},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4136980473995209},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3704971671104431},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2794531285762787},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2313874065876007},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22103017568588257},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18076425790786743}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7150481343269348},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7078961133956909},{"id":"https://openalex.org/C167740415","wikidata":"https://www.wikidata.org/wiki/Q2876213","display_name":"Aerospace","level":2,"score":0.5586622953414917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5012774467468262},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4690103232860565},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.43411991000175476},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4136980473995209},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3704971671104431},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2794531285762787},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2313874065876007},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22103017568588257},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18076425790786743},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/amc44022.2020.9244433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc44022.2020.9244433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},{"id":"pmh:oai:sdu.dk:openaire_cris_publications/a6c1f870-e51a-4af1-be81-62f8533073c4","is_oa":false,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/a6c1f870-e51a-4af1-be81-62f8533073c4","pdf_url":null,"source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Gunnarsson, G G & Petersen, H G 2020, Minimum-Energy State Determination of an Underactuated Suction Cup Gripper Grid. in 2020 IEEE 16th International Workshop on Advanced Motion Control (AMC). IEEE, pp. 213-218, IEEE 16th International Workshop on Advanced Motion Control (AMC 2020), Kristiansand, Norway, 14/09/2020. https://doi.org/10.1109/AMC44022.2020.9244433","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8799999952316284,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320313796","display_name":"Innovationsfonden","ror":"https://ror.org/00daj4111"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1508184037","https://openalex.org/W2027661541","https://openalex.org/W2135434791","https://openalex.org/W2397998222","https://openalex.org/W2462735878","https://openalex.org/W2810434423","https://openalex.org/W2885466692","https://openalex.org/W4248598408"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W4321093571","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W4225795411","https://openalex.org/W3021648695"],"abstract_inverted_index":{"The":[0,110,141],"use":[1],"of":[2,14,26,48,52,75,79,85,88,107,122,129,166,194,204],"pre-impregnated":[3],"fiber":[4],"plies":[5,28],"for":[6,81,99,138,163,173],"manufacturing":[7],"composite":[8],"components":[9],"has":[10],"a":[11,45,67,97,199],"wide":[12],"range":[13],"applications":[15],"within":[16],"e.g.":[17],"aerospace,":[18],"wind":[19],"turbines":[20],"and":[21,103,117,120,135,152,170],"automotive.":[22],"Automating":[23],"the":[24,37,72,76,86,89,100,105,118,123,127,130,139,150,153,159,174,185,187,192,195,205],"layup":[25],"these":[27],"on":[29,56,158],"complex":[30],"moulds":[31],"is":[32,94,113,144],"an":[33,49,82],"unsolved":[34],"problem.":[35],"In":[36],"Flexdraper":[38],"project,":[39],"we":[40,179],"address":[41],"this":[42,108],"problem":[43],"by":[44],"tool":[46],"consisting":[47],"underactuated":[50,77],"array":[51],"suction":[53],"cups":[54],"mounted":[55],"linear":[57,90],"actuators,":[58],"interconnected":[59],"with":[60],"springs.":[61,124],"This":[62],"paper":[63],"aims":[64],"at":[65],"developing":[66],"method":[68],"to":[69,95,115,146,182,210],"accurately":[70],"predict":[71],"equilibrium":[73],"configuration":[74,84],"degrees":[78],"freedom":[80],"arbitrary":[83],"extensions":[87],"actuators.":[91],"Our":[92],"approach":[93],"establish":[96],"model":[98,126,143,190],"potential":[101,111],"energy":[102,112],"minimize":[104],"value":[106],"energy.":[109],"due":[114],"gravity":[116],"bending":[119],"stretching":[121],"We":[125],"shape":[128,202],"springs":[131,206],"using":[132],"cubic":[133,188],"splines":[134],"derive":[136],"expressions":[137],"energies.":[140],"developed":[142],"compared":[145],"measured":[147],"data":[148],"from":[149],"setup":[151],"results":[154],"have":[155],"RMS":[156,213],"errors":[157],"positions":[160],"around":[161,171],"1mm":[162],"four":[164],"out":[165],"five":[167],"test":[168,176],"configurations":[169],"3mm":[172],"fifth":[175],"configuration.":[177],"Although":[178],"still":[180],"need":[181],"further":[183],"improve":[184],"accuracy,":[186],"spline":[189],"shows":[191],"feasibility":[193],"general":[196],"approach,":[197],"but":[198],"more":[200],"precise":[201],"approximation":[203],"will":[207],"be":[208],"needed":[209],"achieve":[211],"lower":[212],"errors.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}