{"id":"https://openalex.org/W2761474635","doi":"https://doi.org/10.1109/ccta.2017.8062458","title":"A motion planning for grasp and manipulation system based on rolling motion","display_name":"A motion planning for grasp and manipulation system based on rolling motion","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2761474635","doi":"https://doi.org/10.1109/ccta.2017.8062458","mag":"2761474635"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2017.8062458","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062458","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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/A5063609596","display_name":"Akira Nakashima","orcid":"https://orcid.org/0000-0002-7837-8965"},"institutions":[{"id":"https://openalex.org/I119031078","display_name":"Nanzan University","ror":"https://ror.org/042b6j696","country_code":"JP","type":"education","lineage":["https://openalex.org/I119031078"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Akira Nakashima","raw_affiliation_strings":["Department of Mechatronics, Nanzan University, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics, Nanzan University, Nagoya, Japan","institution_ids":["https://openalex.org/I119031078"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5063609596"],"corresponding_institution_ids":["https://openalex.org/I119031078"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.11469388,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"167","last_page":"174"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8878383636474609},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.7247681021690369},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.70196533203125},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6437305212020874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5894957780838013},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.51954585313797},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47384363412857056},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4122759699821472}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8878383636474609},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.7247681021690369},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.70196533203125},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6437305212020874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5894957780838013},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.51954585313797},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47384363412857056},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4122759699821472},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta.2017.8062458","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062458","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W160252641","https://openalex.org/W1509235676","https://openalex.org/W1564897360","https://openalex.org/W1800558330","https://openalex.org/W1971044547","https://openalex.org/W1978580730","https://openalex.org/W2017427305","https://openalex.org/W2055302917","https://openalex.org/W2101196304","https://openalex.org/W2105957568","https://openalex.org/W2113797465","https://openalex.org/W2114112336","https://openalex.org/W2126701792","https://openalex.org/W2132893673","https://openalex.org/W2137025025","https://openalex.org/W2146887392","https://openalex.org/W2148851715","https://openalex.org/W2160864841","https://openalex.org/W2161486070","https://openalex.org/W3217246742","https://openalex.org/W6642962755","https://openalex.org/W6681883498"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2657478029","https://openalex.org/W2080808138","https://openalex.org/W2626503888","https://openalex.org/W4387962997","https://openalex.org/W2129483190","https://openalex.org/W4205448459"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,9,13,31,87],"motion":[4],"planning":[5],"method":[6,83],"to":[7,30],"manipulate":[8],"grasped":[10,25],"object":[11,27,43],"by":[12,48,62,86],"two-fingered":[14],"robot":[15],"hand":[16],"based":[17],"on":[18,51,75],"the":[19,36,40,45,57,68,73,76],"nonholonomy":[20],"of":[21,56,72],"rolling":[22],"contacts.":[23],"A":[24],"rectangular":[26],"is":[28,84],"regulated":[29],"target":[32],"configuration":[33],"through":[34],"regulating":[35],"contact":[37],"coordinates":[38],"between":[39],"fingers":[41],"and":[42,79],"using":[44],"holonomy":[46],"generated":[47],"closed":[49,58],"paths":[50,59],"semi-spherical":[52],"fingertips.":[53],"The":[54,81],"parameters":[55],"are":[60],"determined":[61],"solving":[63],"an":[64],"optimization":[65],"problem":[66],"with":[67],"constraints":[69],"which":[70],"consist":[71],"limitations":[74],"finger-tip":[77],"surfaces":[78],"configurations.":[80],"proposed":[82],"verified":[85],"numerical":[88],"simulation.":[89]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}