{"id":"https://openalex.org/W1966989141","doi":"https://doi.org/10.1109/humanoids.2014.7041449","title":"Grasp quality metrics for robot hands benchmarking","display_name":"Grasp quality metrics for robot hands benchmarking","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W1966989141","doi":"https://doi.org/10.1109/humanoids.2014.7041449","mag":"1966989141"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041449","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/HUMANOIDS.2014.7041449","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006788869","display_name":"Carlos Rubert","orcid":"https://orcid.org/0000-0002-8754-366X"},"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":true,"raw_author_name":"Carlos Rubert","raw_affiliation_strings":["Department of Computer Science and Engineering, Universitat Jaume I, Castell\u00f3n, Spain","Robotic Intelligence Laboratory at the Department of Computer Science and Engineering, Universitat Jaume I, 12006 Castell\u00f3n, Spain#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Universitat Jaume I, Castell\u00f3n, Spain","institution_ids":["https://openalex.org/I10902133"]},{"raw_affiliation_string":"Robotic Intelligence Laboratory at the Department of Computer Science and Engineering, Universitat Jaume I, 12006 Castell\u00f3n, Spain#TAB#","institution_ids":["https://openalex.org/I10902133"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009797597","display_name":"Beatriz Le\u00f3n","orcid":"https://orcid.org/0000-0002-0831-9003"},"institutions":[{"id":"https://openalex.org/I141584323","display_name":"University of Hertfordshire","ror":"https://ror.org/0267vjk41","country_code":"GB","type":"education","lineage":["https://openalex.org/I141584323"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Beatriz Leon","raw_affiliation_strings":["Adaptive Systems Research Group, University of Hertfordshire, Hatfield Hertfordshire, UK","Adaptive Systems Research Group at the School of Computer Science, University of Hertfordshire, Hatfield, Hertfordshire AL10 9AB, UK"],"affiliations":[{"raw_affiliation_string":"Adaptive Systems Research Group, University of Hertfordshire, Hatfield Hertfordshire, UK","institution_ids":["https://openalex.org/I141584323"]},{"raw_affiliation_string":"Adaptive Systems Research Group at the School of Computer Science, University of Hertfordshire, Hatfield, Hertfordshire AL10 9AB, UK","institution_ids":["https://openalex.org/I141584323"]}]},{"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":["Department of Computer Science and Engineering, Universitat Jaume I, Castell\u00f3n, Spain","Robotic Intelligence Laboratory at the Department of Computer Science and Engineering, Universitat Jaume I, 12006 Castell\u00f3n, Spain#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Universitat Jaume I, Castell\u00f3n, Spain","institution_ids":["https://openalex.org/I10902133"]},{"raw_affiliation_string":"Robotic Intelligence Laboratory at the Department of Computer Science and Engineering, Universitat Jaume I, 12006 Castell\u00f3n, Spain#TAB#","institution_ids":["https://openalex.org/I10902133"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006788869"],"corresponding_institution_ids":["https://openalex.org/I10902133"],"apc_list":null,"apc_paid":null,"fwci":0.8205,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.76276961,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"761","last_page":"766"},"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":0.9908999800682068,"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":0.9853000044822693,"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/grasp","display_name":"GRASP","score":0.9487325549125671},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.8297667503356934},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7211881875991821},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7131571769714355},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.608039140701294},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49298736453056335},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.47453391551971436},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.46087557077407837},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4000920355319977},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33483579754829407},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.0653676688671112}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9487325549125671},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.8297667503356934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7211881875991821},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7131571769714355},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.608039140701294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49298736453056335},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.47453391551971436},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.46087557077407837},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4000920355319977},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33483579754829407},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0653676688671112},{"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2014.7041449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041449","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:10514868","is_oa":true,"landing_page_url":"https://doi.org/10.1109/HUMANOIDS.2014.7041449","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:10514868","is_oa":true,"landing_page_url":"https://doi.org/10.1109/HUMANOIDS.2014.7041449","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W564593119","https://openalex.org/W1794703952","https://openalex.org/W1820657498","https://openalex.org/W1964523947","https://openalex.org/W2001460569","https://openalex.org/W2011704032","https://openalex.org/W2085545845","https://openalex.org/W2093801937","https://openalex.org/W2119332045","https://openalex.org/W2126701792","https://openalex.org/W2134167019","https://openalex.org/W2155337985","https://openalex.org/W2163296013","https://openalex.org/W2167584186","https://openalex.org/W2167788274","https://openalex.org/W2170940415","https://openalex.org/W6680208274","https://openalex.org/W6684397766","https://openalex.org/W6903373631"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W1993948687","https://openalex.org/W2011676020","https://openalex.org/W2000169967"],"abstract_inverted_index":{"This":[0],"paper":[1,47],"addresses":[2],"the":[3,7,26,90,93],"problem":[4],"of":[5,10,16,28,31,49,54,65,78,92],"evaluating":[6],"grasping":[8],"capabilities":[9],"a":[11,62,68,76],"robot":[12,32,59],"hand.":[13],"The":[14,42],"purpose":[15],"such":[17],"evaluation":[18],"is":[19],"to":[20,38,88],"provide":[21],"numerical":[22],"results":[23],"that":[24],"enable":[25],"comparison":[27],"different":[29],"aspects":[30],"hand":[33,60,84],"designs":[34],"which":[35],"can":[36],"lead":[37],"improve":[39],"their":[40],"performance.":[41],"methodology":[43],"proposed":[44],"in":[45],"this":[46],"consists":[48],"computing":[50],"an":[51],"exhaustive":[52],"amount":[53],"grasp":[55,81],"configurations":[56],"for":[57],"each":[58],"over":[61],"wide":[63],"variety":[64],"objects":[66],"on":[67],"simulation":[69],"environment.":[70],"These":[71],"grasps":[72],"are":[73,86],"evaluated":[74],"through":[75],"set":[77],"six":[79],"selected":[80],"metrics.":[82],"Three":[83],"models":[85],"compared":[87],"test":[89],"suitability":[91],"methodology.":[94]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
