{"id":"https://openalex.org/W1874193130","doi":"https://doi.org/10.1109/cira.2001.1013166","title":"Computation of grasp internal forces for stably grasping multiple objects","display_name":"Computation of grasp internal forces for stably grasping multiple objects","publication_year":2002,"publication_date":"2002-11-14","ids":{"openalex":"https://openalex.org/W1874193130","doi":"https://doi.org/10.1109/cira.2001.1013166","mag":"1874193130"},"language":"en","primary_location":{"id":"doi:10.1109/cira.2001.1013166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2001.1013166","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515)","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/A5049771866","display_name":"Yong Yu","orcid":"https://orcid.org/0000-0002-5700-4542"},"institutions":[{"id":"https://openalex.org/I107139324","display_name":"Kagoshima University","ror":"https://ror.org/03ss88z23","country_code":"JP","type":"education","lineage":["https://openalex.org/I107139324"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yong Yu","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, Kagoshirna University, Kagoshima, Japan","Dept. of Mech. Eng., Kagoshima Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, Kagoshirna University, Kagoshima, Japan","institution_ids":[]},{"raw_affiliation_string":"Dept. of Mech. Eng., Kagoshima Univ., Japan","institution_ids":["https://openalex.org/I107139324"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072298897","display_name":"K. Fukuda","orcid":null},"institutions":[{"id":"https://openalex.org/I107139324","display_name":"Kagoshima University","ror":"https://ror.org/03ss88z23","country_code":"JP","type":"education","lineage":["https://openalex.org/I107139324"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Fukuda","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, Kagoshirna University, Kagoshima, Japan","Dept. of Mech. Eng., Kagoshima Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, Kagoshirna University, Kagoshima, Japan","institution_ids":[]},{"raw_affiliation_string":"Dept. of Mech. Eng., Kagoshima Univ., Japan","institution_ids":["https://openalex.org/I107139324"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112086980","display_name":"S. Tsujio","orcid":null},"institutions":[{"id":"https://openalex.org/I107139324","display_name":"Kagoshima University","ror":"https://ror.org/03ss88z23","country_code":"JP","type":"education","lineage":["https://openalex.org/I107139324"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Tsujio","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering, Kagoshirna University, Kagoshima, Japan","Dept. of Mech. Eng., Kagoshima Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering, Kagoshirna University, Kagoshima, Japan","institution_ids":[]},{"raw_affiliation_string":"Dept. of Mech. Eng., Kagoshima Univ., Japan","institution_ids":["https://openalex.org/I107139324"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049771866"],"corresponding_institution_ids":["https://openalex.org/I107139324"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.07755148,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"38","issue":null,"first_page":"17","last_page":"22"},"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":0.9921000003814697,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9894000291824341,"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/grasp","display_name":"GRASP","score":0.894508957862854},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.7633517980575562},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6961379051208496},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6835391521453857},{"id":"https://openalex.org/keywords/internal-forces","display_name":"Internal forces","score":0.6509224772453308},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5777968764305115},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.41760358214378357},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3997896909713745},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3895444869995117},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38036057353019714},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3137796223163605},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27134597301483154},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12992027401924133},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.121042400598526},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11763375997543335}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.894508957862854},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.7633517980575562},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6961379051208496},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6835391521453857},{"id":"https://openalex.org/C2986502102","wikidata":"https://www.wikidata.org/wiki/Q4291900","display_name":"Internal forces","level":2,"score":0.6509224772453308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5777968764305115},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.41760358214378357},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3997896909713745},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3895444869995117},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38036057353019714},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3137796223163605},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27134597301483154},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12992027401924133},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.121042400598526},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11763375997543335},{"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/cira.2001.1013166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.2001.1013166","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2098450989","https://openalex.org/W2100758707","https://openalex.org/W2107143629","https://openalex.org/W2111437010","https://openalex.org/W2115659120","https://openalex.org/W2126011115","https://openalex.org/W2128579922","https://openalex.org/W2135081900","https://openalex.org/W2144573888","https://openalex.org/W2277485965","https://openalex.org/W2544061075","https://openalex.org/W6676676352"],"related_works":["https://openalex.org/W2666340839","https://openalex.org/W2102469765","https://openalex.org/W2128621978","https://openalex.org/W2142561322","https://openalex.org/W2731072988","https://openalex.org/W2042022466","https://openalex.org/W2381543313","https://openalex.org/W1926827207","https://openalex.org/W2625202073","https://openalex.org/W2133659289"],"abstract_inverted_index":{"When":[0],"multiple":[1],"objects":[2,121],"are":[3,14,133],"grasped":[4],"by":[5],"a":[6,39,63],"multifingered":[7],"hand,":[8],"the":[9,19,25,29,49,55,57,69,75,79,91,94,110,113,137,140],"feasible":[10,46],"grasp":[11],"finger":[12,51,96,115],"forces":[13,97,116],"limited":[15],"directionally":[16],"because":[17],"of":[18,41,74,93,112,139],"geometrical":[20,70],"and":[21,47,71,123,130],"frictional":[22,72],"conditions":[23,73],"on":[24,78],"contact":[26,59,64,80,85],"parts":[27],"among":[28],"objects.":[30],"The":[31],"paper":[32],"proposes":[33],"an":[34,87,106],"approach":[35],"for":[36,62,83],"judging":[37],"if":[38],"group":[40],"given":[42],"fingertip":[43],"positions":[44],"is":[45,66,103,125],"obtaining":[48],"graspable":[50],"force":[52,60,81],"region.":[53],"In":[54],"paper,":[56],"generable":[58],"set":[61,92,111],"part":[65],"discussed":[67],"from":[68],"part.":[76],"Based":[77],"sets":[82],"all":[84,120],"parts,":[86],"algorithm":[88,107],"to":[89,108,135],"obtain":[90,109],"internal":[95,114],"which":[98,117],"can":[99,118],"be":[100],"generated":[101],"actually":[102],"analyzed.":[104],"Then":[105],"hold":[119],"fast":[122],"stably":[124],"addressed.":[126],"Lastly,":[127],"numerical":[128],"examples":[129],"their":[131],"experiments":[132],"performed":[134],"verify":[136],"effectiveness":[138],"proposed":[141],"approach.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}