{"id":"https://openalex.org/W3010923030","doi":"https://doi.org/10.1109/humanoids43949.2019.9035055","title":"Automated Design of Simple and Robust Manipulators for Dexterous In-Hand Manipulation Tasks using Evolutionary Strategies","display_name":"Automated Design of Simple and Robust Manipulators for Dexterous In-Hand Manipulation Tasks using Evolutionary Strategies","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W3010923030","doi":"https://doi.org/10.1109/humanoids43949.2019.9035055","mag":"3010923030"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids43949.2019.9035055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","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/A5079906134","display_name":"Andre Meixner","orcid":"https://orcid.org/0000-0002-4823-0687"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Meixner","raw_affiliation_strings":["High Performance Humanoid Technologies Lab, Institute for Anthropomatics, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"High Performance Humanoid Technologies Lab, Institute for Anthropomatics, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039138546","display_name":"Christopher J. Hazard","orcid":"https://orcid.org/0000-0002-2601-0587"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Hazard","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011046225","display_name":"Nancy S. Pollard","orcid":"https://orcid.org/0000-0001-6464-839X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nancy Pollard","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"281","last_page":"288"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.991100013256073,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9887999892234802,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7720531821250916},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7500137090682983},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5357412695884705},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4941294491291046},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4819605052471161},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4546844959259033},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3432826101779938},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2110680341720581},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1417979896068573}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7720531821250916},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7500137090682983},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5357412695884705},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4941294491291046},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4819605052471161},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4546844959259033},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3432826101779938},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2110680341720581},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1417979896068573},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids43949.2019.9035055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids43949.2019.9035055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)","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":36,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1888892744","https://openalex.org/W1986714037","https://openalex.org/W2003329174","https://openalex.org/W2017973856","https://openalex.org/W2019165997","https://openalex.org/W2022485595","https://openalex.org/W2067078967","https://openalex.org/W2071810814","https://openalex.org/W2099746672","https://openalex.org/W2123062563","https://openalex.org/W2143381319","https://openalex.org/W2147265818","https://openalex.org/W2147327025","https://openalex.org/W2151083897","https://openalex.org/W2160088187","https://openalex.org/W2161697934","https://openalex.org/W2165944157","https://openalex.org/W2336687883","https://openalex.org/W2525614878","https://openalex.org/W2596367596","https://openalex.org/W2602492647","https://openalex.org/W2701942770","https://openalex.org/W2734017603","https://openalex.org/W2885163910","https://openalex.org/W2911471144","https://openalex.org/W2911565250","https://openalex.org/W2947240313","https://openalex.org/W2990747716","https://openalex.org/W4324106947","https://openalex.org/W6654710623","https://openalex.org/W6681985287","https://openalex.org/W6683526187","https://openalex.org/W6702989015","https://openalex.org/W6735641298","https://openalex.org/W6740637323"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W1980376593","https://openalex.org/W1979214824","https://openalex.org/W2104109729","https://openalex.org/W324942907","https://openalex.org/W2685330831","https://openalex.org/W2386946123","https://openalex.org/W1990564581"],"abstract_inverted_index":{"In":[0],"spite":[1],"of":[2,21,71,101,125,136,165,191],"substantial":[3],"progress,":[4],"robust":[5,52,110,119,143],"and":[6,40,76,96,103,128,158,183],"dexterous":[7],"in-hand":[8,111],"manipulation":[9,46],"remains":[10],"a":[11,87],"robotics":[12],"grand":[13],"challenge.":[14],"Recent":[15],"research":[16],"has":[17],"shown":[18,180],"that":[19,34,61,115,148],"optimization":[20,83,155],"robot":[22],"hand":[23,32,94,127,174],"morphology":[24,95],"for":[25,92,181],"specific":[26],"tasks":[27],"can":[28,63,159],"result":[29],"in":[30,55,106],"custom":[31,173],"designs":[33,175],"are":[35,179],"low-cost,":[36],"easy":[37],"to":[38,108,141,153,162,171,188],"maintain,":[39],"highly":[41],"capable.":[42],"However,":[43],"the":[44,82,126,134,189,192],"resulting":[45],"strategies":[47],"may":[48],"not":[49],"be":[50,64,160],"very":[51],"or":[53],"generalizable":[54],"real-world":[56],"situations.":[57],"This":[58],"paper":[59],"shows":[60],"robustness":[62,164],"improved":[65],"dramatically":[66],"by":[67,77],"optimizing":[68,137],"controls":[69],"instead":[70],"contact":[72],"force":[73],"/":[74],"trajectories":[75],"considering":[78],"uncertainty":[79],"explicitly":[80],"during":[81],"process.":[84],"We":[85,113,132],"present":[86],"evolutionary":[88],"algorithm":[89],"based":[90,156],"pipeline":[91],"co-optimizing":[93],"control":[97],"strategy":[98],"over":[99],"families":[100],"problems":[102],"initial":[104],"states":[105],"order":[107],"achieve":[109],"manipulation.":[112],"demonstrate":[114,147],"this":[116],"approach":[117,150],"produces":[118],"results":[120,167],"which":[121],"utilize":[122],"all":[123],"surfaces":[124],"surprising":[129],"dynamic":[130],"motions.":[131],"showcase":[133],"advantage":[135],"joint":[138],"limit":[139],"values":[140],"create":[142,172],"designs.":[144],"Furthermore,":[145],"we":[146],"our":[149],"is":[151],"complementary":[152],"trajectory":[154],"approaches":[157],"utilized":[161],"improve":[163],"such":[166],"as":[168,170],"well":[169],"from":[176],"scratch.":[177],"Results":[178],"repositioning":[182],"reorienting":[184],"diverse":[185],"objects":[186],"relative":[187],"palm":[190],"hand.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
