{"id":"https://openalex.org/W2555089371","doi":"https://doi.org/10.1109/coase.2016.7743538","title":"Kinematic noise propagation and grasp quality evaluation","display_name":"Kinematic noise propagation and grasp quality evaluation","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2555089371","doi":"https://doi.org/10.1109/coase.2016.7743538","mag":"2555089371"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2016.7743538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2016.7743538","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 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/A5120790453","display_name":"Shuo Liu","orcid":"https://orcid.org/0000-0003-2842-0659"},"institutions":[{"id":"https://openalex.org/I156087764","display_name":"University of California, Merced","ror":"https://ror.org/00d9ah105","country_code":"US","type":"education","lineage":["https://openalex.org/I156087764"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shuo Liu","raw_affiliation_strings":["University of California, Merced, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Merced, CA, USA","institution_ids":["https://openalex.org/I156087764"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081177797","display_name":"Stefano Carpin","orcid":"https://orcid.org/0000-0003-3837-7463"},"institutions":[{"id":"https://openalex.org/I156087764","display_name":"University of California, Merced","ror":"https://ror.org/00d9ah105","country_code":"US","type":"education","lineage":["https://openalex.org/I156087764"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefano Carpin","raw_affiliation_strings":["University of California, Merced, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Merced, CA, USA","institution_ids":["https://openalex.org/I156087764"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5120790453"],"corresponding_institution_ids":["https://openalex.org/I156087764"],"apc_list":null,"apc_paid":null,"fwci":0.8034,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.76204267,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"26","issue":null,"first_page":"1177","last_page":"1183"},"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":0.9904999732971191,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.8385096788406372},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6840503215789795},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6429105401039124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5926758050918579},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5647261142730713},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5199812054634094},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.47450965642929077},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4698960483074188},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43212586641311646},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3443949818611145},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32969895005226135},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3014841377735138},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2677572965621948},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.23062941431999207},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1368357539176941},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07314714789390564}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8385096788406372},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6840503215789795},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6429105401039124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5926758050918579},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5647261142730713},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5199812054634094},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.47450965642929077},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4698960483074188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43212586641311646},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3443949818611145},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32969895005226135},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3014841377735138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2677572965621948},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.23062941431999207},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1368357539176941},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07314714789390564},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2016.7743538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2016.7743538","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309411","display_name":"University of California Berkeley","ror":"https://ror.org/01an7q238"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1517508454","https://openalex.org/W1549874224","https://openalex.org/W1564897360","https://openalex.org/W1627337892","https://openalex.org/W1651456183","https://openalex.org/W1776592063","https://openalex.org/W1794703952","https://openalex.org/W1820657498","https://openalex.org/W2009439135","https://openalex.org/W2036637075","https://openalex.org/W2043785364","https://openalex.org/W2082511574","https://openalex.org/W2088043683","https://openalex.org/W2109163007","https://openalex.org/W2116817751","https://openalex.org/W2126721296","https://openalex.org/W2143098445","https://openalex.org/W2168337814","https://openalex.org/W2414685554","https://openalex.org/W2962736495","https://openalex.org/W3104073816","https://openalex.org/W3112422759","https://openalex.org/W4241088297","https://openalex.org/W4244220855","https://openalex.org/W6638275700","https://openalex.org/W6697071109"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W4387947522"],"abstract_inverted_index":{"To":[0],"determine":[1],"a":[2,11,16,28,53,70,95,114,160],"force-closure":[3,79],"grasp,":[4],"current":[5],"grasp":[6,110],"synthesis":[7],"algorithms":[8],"either":[9],"assume":[10],"deterministic":[12],"model":[13,23],"to":[14,69,132],"compute":[15],"desired":[17],"finger":[18],"placement":[19],"without":[20],"noise,":[21],"or":[22],"the":[24,39,44,75,81,99,109,119,126,148,154],"end-effector":[25],"position":[26],"as":[27,113],"free-floating":[29],"rigid":[30],"body":[31],"whose":[32],"noise":[33,59,65],"in":[34,60,88],"pose":[35],"is":[36,67],"independent":[37],"of":[38,78,101,121,135,140,147,150,156,163],"kinematic":[40],"chain":[41],"formed":[42],"by":[43,138],"robot":[45,82,168],"arm.":[46,169],"In":[47],"this":[48,136],"work":[49],"we":[50,86],"instead":[51],"explore":[52],"probabilistic":[54],"approach":[55],"that":[56,66,90],"explicitly":[57],"models":[58],"joint-angles.":[61],"By":[62],"sampling":[63,122],"additive":[64],"applied":[68],"pre-grasp":[71],"configuration":[72],"and":[73,117,129],"studying":[74],"resulting":[76],"probability":[77,100],"when":[80],"fingers":[83],"are":[84],"closed,":[85],"observe":[87],"experiments":[89],"joint-angle":[91],"positions":[92],"can":[93],"have":[94],"remarkable":[96],"effect":[97],"on":[98,153,159],"successfully":[102],"restraining":[103],"an":[104],"object.":[105],"We":[106,143],"systematically":[107],"study":[108,144],"quality":[111],"value":[112],"random":[115],"variable":[116],"investigate":[118],"convergence":[120],"based":[123],"estimators":[124],"for":[125],"mean,":[127],"covariance":[128],"moments":[130],"up":[131],"third":[133],"order":[134],"quantity":[137],"means":[139],"Montecarlo":[141],"Sampling.":[142],"illustrative":[145],"examples":[146],"impact":[149],"initial":[151],"joint-configurations":[152],"likelihood":[155],"force":[157],"closure":[158],"seven":[161],"degree":[162],"freedom":[164],"simulated":[165],"Kuka":[166],"lightweight":[167]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
