{"id":"https://openalex.org/W2972671945","doi":"https://doi.org/10.1109/eit.2019.8834164","title":"Motion Planning for Nonprehensile Manipulation","display_name":"Motion Planning for Nonprehensile Manipulation","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2972671945","doi":"https://doi.org/10.1109/eit.2019.8834164","mag":"2972671945"},"language":"en","primary_location":{"id":"doi:10.1109/eit.2019.8834164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/eit.2019.8834164","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Electro Information Technology (EIT)","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/A5080738270","display_name":"Praneel Acharya","orcid":null},"institutions":[{"id":"https://openalex.org/I177156846","display_name":"South Dakota State University","ror":"https://ror.org/015jmes13","country_code":"US","type":"education","lineage":["https://openalex.org/I177156846"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Praneel Acharya","raw_affiliation_strings":["Department of Mechanical Engineering, South Dakota State University, Brookings, SD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, South Dakota State University, Brookings, SD, USA","institution_ids":["https://openalex.org/I177156846"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079282947","display_name":"ElHussein Shata","orcid":null},"institutions":[{"id":"https://openalex.org/I177156846","display_name":"South Dakota State University","ror":"https://ror.org/015jmes13","country_code":"US","type":"education","lineage":["https://openalex.org/I177156846"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"ElHussein Shata","raw_affiliation_strings":["Department of Mechanical Engineering, South Dakota State University, Brookings, SD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, South Dakota State University, Brookings, SD, USA","institution_ids":["https://openalex.org/I177156846"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062903089","display_name":"Kim\u2010Doang Nguyen","orcid":"https://orcid.org/0000-0001-6230-2432"},"institutions":[{"id":"https://openalex.org/I177156846","display_name":"South Dakota State University","ror":"https://ror.org/015jmes13","country_code":"US","type":"education","lineage":["https://openalex.org/I177156846"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kim-Doang Nguyen","raw_affiliation_strings":["Department of Mechanical Engineering, South Dakota State University, Brookings, SD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, South Dakota State University, Brookings, SD, USA","institution_ids":["https://openalex.org/I177156846"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177156846"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.104538,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"107","issue":null,"first_page":"194","last_page":"199"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994999766349792,"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":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.8782002925872803},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.7771154642105103},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7179204225540161},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5553052425384521},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4941146671772003},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.47729575634002686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46122580766677856},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.4432796239852905},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4317896366119385},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34504473209381104},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3326304256916046},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.31800389289855957},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.30426815152168274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26146388053894043},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.19050467014312744}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.8782002925872803},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.7771154642105103},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7179204225540161},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5553052425384521},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4941146671772003},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.47729575634002686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46122580766677856},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4432796239852905},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4317896366119385},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34504473209381104},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3326304256916046},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.31800389289855957},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.30426815152168274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26146388053894043},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.19050467014312744},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/eit.2019.8834164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/eit.2019.8834164","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Electro Information Technology (EIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4399999976158142,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W157769288","https://openalex.org/W321738389","https://openalex.org/W1965961478","https://openalex.org/W1976912497","https://openalex.org/W1978023077","https://openalex.org/W2000055489","https://openalex.org/W2042913147","https://openalex.org/W2051466908","https://openalex.org/W2073045360","https://openalex.org/W2079775715","https://openalex.org/W2098689547","https://openalex.org/W2100790457","https://openalex.org/W2105763741","https://openalex.org/W2109483642","https://openalex.org/W2128644970","https://openalex.org/W2145554247","https://openalex.org/W2164474021","https://openalex.org/W3152103480","https://openalex.org/W6606412687","https://openalex.org/W6676341823"],"related_works":["https://openalex.org/W2565094479","https://openalex.org/W2390829436","https://openalex.org/W1989791859","https://openalex.org/W2728578999","https://openalex.org/W602859758","https://openalex.org/W2006439817","https://openalex.org/W1971289376","https://openalex.org/W2379101322","https://openalex.org/W2382658465","https://openalex.org/W1511615261"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"the":[3,14,51,64,68,102],"tipping":[4],"condition":[5],"for":[6,63,88],"an":[7],"object":[8,15,65,84,90],"in":[9,37],"nonprehensile":[10],"manipulation":[11],"under":[12],"which":[13,42,54],"can":[16],"be":[17],"accelerated":[18],"while":[19],"maintaining":[20],"stability.":[21],"Objects":[22],"whose":[23],"geometry":[24],"is":[25,35,46,58,70,79,91,96],"sensitive":[26],"to":[27,66,98],"small":[28],"external":[29],"forces":[30],"are":[31],"considered.":[32],"The":[33,48],"stability":[34,69],"defined":[36],"terms":[38],"of":[39,44,56],"angle":[40,52],"with":[41,53],"center":[43,55],"gravity":[45,57],"displaced.":[47],"relationship":[49],"between":[50],"displaced":[59],"and":[60,85,100],"maximum":[61,86,103],"acceleration":[62,87],"maintain":[67],"formulated.":[71],"In":[72],"experimental":[73],"validation,":[74],"a":[75,82],"rectangular":[76],"plywood":[77],"piece":[78],"used":[80,97],"as":[81],"sample":[83],"this":[89],"calculated.":[92],"A":[93],"robotic":[94],"manipulator":[95],"test":[99],"validate":[101],"critical":[104],"acceleration.":[105]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
