{"id":"https://openalex.org/W2068752283","doi":"https://doi.org/10.1109/humanoids.2012.6651534","title":"Simulation of robot dynamics for grasping and manipulation tasks","display_name":"Simulation of robot dynamics for grasping and manipulation tasks","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2068752283","doi":"https://doi.org/10.1109/humanoids.2012.6651534","mag":"2068752283"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651534","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5009797597","display_name":"Beatriz Le\u00f3n","orcid":"https://orcid.org/0000-0002-0831-9003"},"institutions":[{"id":"https://openalex.org/I10902133","display_name":"Universitat Jaume I","ror":"https://ror.org/02ws1xc11","country_code":"ES","type":"education","lineage":["https://openalex.org/I10902133"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Beatriz Leon","raw_affiliation_strings":["Universitat Jaume I Castell\u00f3n, Spain","Univ. Jaume I, Castellon, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universitat Jaume I Castell\u00f3n, Spain","institution_ids":["https://openalex.org/I10902133"]},{"raw_affiliation_string":"Univ. Jaume I, Castellon, Spain","institution_ids":["https://openalex.org/I10902133"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022915018","display_name":"Javier Felip","orcid":null},"institutions":[{"id":"https://openalex.org/I10902133","display_name":"Universitat Jaume I","ror":"https://ror.org/02ws1xc11","country_code":"ES","type":"education","lineage":["https://openalex.org/I10902133"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Felip","raw_affiliation_strings":["Universitat Jaume I Castell\u00f3n, Spain","Univ. Jaume I, Castellon, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universitat Jaume I Castell\u00f3n, Spain","institution_ids":["https://openalex.org/I10902133"]},{"raw_affiliation_string":"Univ. Jaume I, Castellon, Spain","institution_ids":["https://openalex.org/I10902133"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071543020","display_name":"Higinio Mart\u00ed","orcid":null},"institutions":[{"id":"https://openalex.org/I10902133","display_name":"Universitat Jaume I","ror":"https://ror.org/02ws1xc11","country_code":"ES","type":"education","lineage":["https://openalex.org/I10902133"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Higinio Marti","raw_affiliation_strings":["Universitat Jaume I Castell\u00f3n, Spain","Univ. Jaume I, Castellon, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universitat Jaume I Castell\u00f3n, Spain","institution_ids":["https://openalex.org/I10902133"]},{"raw_affiliation_string":"Univ. Jaume I, Castellon, Spain","institution_ids":["https://openalex.org/I10902133"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021954445","display_name":"Antonio Morales","orcid":"https://orcid.org/0000-0002-8478-0854"},"institutions":[{"id":"https://openalex.org/I10902133","display_name":"Universitat Jaume I","ror":"https://ror.org/02ws1xc11","country_code":"ES","type":"education","lineage":["https://openalex.org/I10902133"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antonio Morales","raw_affiliation_strings":["Universitat Jaume I Castell\u00f3n, Spain","Univ. Jaume I, Castellon, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universitat Jaume I Castell\u00f3n, Spain","institution_ids":["https://openalex.org/I10902133"]},{"raw_affiliation_string":"Univ. Jaume I, Castellon, Spain","institution_ids":["https://openalex.org/I10902133"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I10902133"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"291","last_page":"296"},"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":0.9962000250816345,"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":0.9907000064849854,"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/computer-science","display_name":"Computer science","score":0.7081272006034851},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.6959554553031921},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6276980638504028},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4596623182296753},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4327143132686615},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42657747864723206},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36625099182128906},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3503156900405884},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.11368641257286072}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7081272006034851},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.6959554553031921},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6276980638504028},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4596623182296753},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4327143132686615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42657747864723206},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36625099182128906},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3503156900405884},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.11368641257286072},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2012.6651534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651534","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","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":15,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W1495074410","https://openalex.org/W1510186039","https://openalex.org/W1551173223","https://openalex.org/W1575471559","https://openalex.org/W1808974695","https://openalex.org/W1986483299","https://openalex.org/W1998470615","https://openalex.org/W2014824949","https://openalex.org/W2105085370","https://openalex.org/W2110178871","https://openalex.org/W2126791158","https://openalex.org/W2143454724","https://openalex.org/W2167340365","https://openalex.org/W6676388466"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2581059419","https://openalex.org/W2401800146","https://openalex.org/W2612216462","https://openalex.org/W1603042966","https://openalex.org/W2774675237","https://openalex.org/W2402852349","https://openalex.org/W2059706327"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,7,18,48,53,60,66,69,77,91,95,101,105,113,123],"problem":[4],"of":[5,9,20,56,68,82],"simulating":[6],"dynamics":[8],"a":[10,120],"robot,":[11,50],"which":[12,51,111],"include":[13],"sensors":[14,32],"and":[15,23,36,65,87,93,128],"actuators,":[16],"in":[17],"context":[19],"robot":[21,27,103],"grasping":[22],"manipulation.":[24],"The":[25,42],"simulated":[26,96,102],"is":[28,37,44],"equipped":[29],"with":[30,47,59,108],"tactile":[31],"using":[33],"soft":[34],"contacts":[35],"actuated":[38],"by":[39],"angular":[40],"motors.":[41],"simulation":[43,114],"tightly":[45],"integrated":[46],"real":[49,92,106,124],"allows":[52],"transparent":[54],"control":[55],"both":[57,89],"robots":[58],"same":[61,70],"joints'":[62],"velocity":[63],"commands,":[64],"perception":[67],"sensor":[71],"readings.":[72],"In":[73],"order":[74],"to":[75,116],"validate":[76],"simulation,":[78],"three":[79],"different":[80],"types":[81],"manipulation":[83],"experiments":[84],"are":[85],"performed":[86],"recorded,":[88],"on":[90,94],"robots.":[97],"Results":[98],"show":[99],"that":[100],"replicates":[104],"execution":[107],"sufficient":[109],"accuracy,":[110],"enables":[112],"tool":[115],"be":[117],"used":[118],"as":[119],"replacement":[121],"for":[122,126],"hardware":[125],"development":[127],"prototyping.":[129]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}