{"id":"https://openalex.org/W4312726618","doi":"https://doi.org/10.1109/case49997.2022.9926566","title":"Path planning for 3-D in-hand dexterous micro-manipulation in presence of adhesion forces","display_name":"Path planning for 3-D in-hand dexterous micro-manipulation in presence of adhesion forces","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312726618","doi":"https://doi.org/10.1109/case49997.2022.9926566"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926566","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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/A5015871149","display_name":"Ivan Tchouatat Kepseu","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210118524","display_name":"Universit\u00e9 Bourgogne Franche-Comt\u00e9","ror":"https://ror.org/02dn7x778","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118524"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ivan Tchouatat Kepseu","raw_affiliation_strings":["Univ. Bourgogne Franche-Comt&#x00E9;, CNRS,FEMTO-ST Institute,Besan&#x00E7;on,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Bourgogne Franche-Comt&#x00E9;, CNRS,FEMTO-ST Institute,Besan&#x00E7;on,France","institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I4210118524","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007495116","display_name":"Micha\u00ebl Gauthier","orcid":"https://orcid.org/0000-0002-7565-8443"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210118524","display_name":"Universit\u00e9 Bourgogne Franche-Comt\u00e9","ror":"https://ror.org/02dn7x778","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118524"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Michael Gauthier","raw_affiliation_strings":["Univ. Bourgogne Franche-Comt&#x00E9;, CNRS,FEMTO-ST Institute,Besan&#x00E7;on,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Bourgogne Franche-Comt&#x00E9;, CNRS,FEMTO-ST Institute,Besan&#x00E7;on,France","institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I4210118524","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055891775","display_name":"Redwan Dahmouche","orcid":"https://orcid.org/0000-0001-7317-6056"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210118524","display_name":"Universit\u00e9 Bourgogne Franche-Comt\u00e9","ror":"https://ror.org/02dn7x778","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118524"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Redwan Dahmouche","raw_affiliation_strings":["Univ. Bourgogne Franche-Comt&#x00E9;, CNRS,FEMTO-ST Institute,Besan&#x00E7;on,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Bourgogne Franche-Comt&#x00E9;, CNRS,FEMTO-ST Institute,Besan&#x00E7;on,France","institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I4210118524","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2606,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.92985707,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"424","last_page":"430"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12224","display_name":"Nanofabrication and Lithography Techniques","score":0.9760000109672546,"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/T11449","display_name":"Mechanical and Optical Resonators","score":0.9735999703407288,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6794913411140442},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5686824917793274},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5276916027069092},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.520403265953064},{"id":"https://openalex.org/keywords/adhesion","display_name":"Adhesion","score":0.4884404242038727},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4492166042327881},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4344179630279541},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.42844918370246887},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.42542293667793274},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4199882745742798},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3807072341442108},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34065911173820496},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2807973623275757},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21029981970787048},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16097071766853333},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1344689428806305},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.12783950567245483},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.10738381743431091}],"concepts":[{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6794913411140442},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5686824917793274},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5276916027069092},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.520403265953064},{"id":"https://openalex.org/C84416704","wikidata":"https://www.wikidata.org/wiki/Q188666","display_name":"Adhesion","level":2,"score":0.4884404242038727},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4492166042327881},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4344179630279541},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.42844918370246887},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.42542293667793274},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4199882745742798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3807072341442108},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34065911173820496},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2807973623275757},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21029981970787048},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16097071766853333},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1344689428806305},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.12783950567245483},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.10738381743431091},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49997.2022.9926566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926566","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5276474972","display_name":"Modeling, Design and Control of Miniaturized Soft Robots","funder_award_id":"ANR-19-CE10-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6129730045","display_name":"Ing\u00e9nierie et Innovation par les sciences physiques, les savoir-faire technologiques et l'interdisciplinarit\u00e9","funder_award_id":"ANR-17-EURE-0002","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320316862","display_name":"Equipex","ror":null},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1,33,39],"of":[2,34,40,61,103,150],"micro-objects":[3],"is":[4,109,140],"usually":[5,70],"disturbed":[6],"by":[7],"forces":[8,66,83,129],"that":[9,24,136],"are":[10,28,69,84,116,130],"predominant":[11],"at":[12],"the":[13,74,78,99,113,119,125,132,137,143,151],"micro-scale":[14,68],"such":[15],"as":[16],"capillary":[17],"and":[18,92,106],"electrostatic":[19],"forces.":[20],"Dexterous":[21],"micro-manipulation":[22,60],"methods":[23],"consider":[25],"these":[26],"effects":[27],"currently":[29],"limited":[30],"to":[31,52,72,97,124],"planar":[32],"complex":[35,62],"objects":[36,41],"or":[37],"3-D":[38,58],"with":[42],"simple":[43],"shapes.":[44],"This":[45],"paper":[46],"presents":[47],"an":[48],"original":[49],"method":[50,76],"able":[51],"generate":[53],"optimal":[54,114],"fingers":[55],"trajectories":[56,115,145],"for":[57],"in-hand":[59],"micro-objects.":[63],"Since":[64],"adhesion":[65,82,128],"in":[67],"difficult":[71],"predict,":[73],"proposed":[75],"considers":[77],"worst":[79],"case":[80,126],"where":[81,127],"overestimated":[85],"when":[86,94],"they":[87,95],"have":[88],"a":[89],"disturbing":[90],"effect":[91],"neglected":[93],"contribute":[96],"stabilising":[98],"grasps.":[100,154],"A":[101],"graph":[102],"interconnected":[104],"stable":[105],"accessible":[107],"grasps":[108],"then":[110],"built.":[111],"Finally,":[112],"generated":[117,144],"using":[118],"A*":[120],"algorithm.":[121],"When":[122],"compared":[123],"neglected,":[131],"simulation":[133],"results":[134],"show":[135],"computation":[138],"time":[139],"shorter":[141],"while":[142],"require":[146],"more":[147],"operations":[148],"because":[149],"excluded":[152],"risky":[153]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}
