{"id":"https://openalex.org/W3198475786","doi":"https://doi.org/10.1109/humanoids47582.2021.9555798","title":"The Elliott and Connolly Benchmark: A Test for Evaluating the In-Hand Dexterity of Robot Hands","display_name":"The Elliott and Connolly Benchmark: A Test for Evaluating the In-Hand Dexterity of Robot Hands","publication_year":2021,"publication_date":"2021-07-19","ids":{"openalex":"https://openalex.org/W3198475786","doi":"https://doi.org/10.1109/humanoids47582.2021.9555798","mag":"3198475786"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids47582.2021.9555798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555798","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","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/A5019465943","display_name":"Ryan Coulson","orcid":null},"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":"Ryan Coulson","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100323189","display_name":"Chao Li","orcid":"https://orcid.org/0000-0002-3292-0253"},"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":"Chao Li","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050506400","display_name":"Carmel Majidi","orcid":"https://orcid.org/0000-0002-6469-9645"},"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":"Carmel Majidi","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","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 S. Pollard","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.5555,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.66298257,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"1227","issue":null,"first_page":"238","last_page":"245"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9925000071525574,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9908999800682068,"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/benchmark","display_name":"Benchmark (surveying)","score":0.9439608454704285},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6859502792358398},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.6823856830596924},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6817253232002258},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5958272218704224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5417473912239075},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.46302902698516846},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4343188405036926},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3232904076576233},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.12973546981811523}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.9439608454704285},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6859502792358398},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.6823856830596924},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6817253232002258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5958272218704224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5417473912239075},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.46302902698516846},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4343188405036926},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3232904076576233},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.12973546981811523},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids47582.2021.9555798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555798","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1806263934","https://openalex.org/W1888892744","https://openalex.org/W1977086599","https://openalex.org/W2013467411","https://openalex.org/W2019366029","https://openalex.org/W2022356858","https://openalex.org/W2026640515","https://openalex.org/W2031835394","https://openalex.org/W2052863493","https://openalex.org/W2067865322","https://openalex.org/W2086956630","https://openalex.org/W2114146104","https://openalex.org/W2118040554","https://openalex.org/W2123062563","https://openalex.org/W2125188427","https://openalex.org/W2126701792","https://openalex.org/W2326074350","https://openalex.org/W2335263602","https://openalex.org/W2416254177","https://openalex.org/W2807254784","https://openalex.org/W2883112541","https://openalex.org/W2899314544","https://openalex.org/W2911637641","https://openalex.org/W2914475755","https://openalex.org/W2943200793","https://openalex.org/W2990747716","https://openalex.org/W2991371150","https://openalex.org/W2999169383","https://openalex.org/W3003356003","https://openalex.org/W4254821690","https://openalex.org/W6638365565","https://openalex.org/W6716503989","https://openalex.org/W6753242140","https://openalex.org/W6836736777"],"related_works":["https://openalex.org/W2595172197","https://openalex.org/W2084856301","https://openalex.org/W2127970246","https://openalex.org/W2885125400","https://openalex.org/W1001352512","https://openalex.org/W1989889224","https://openalex.org/W4382618745","https://openalex.org/W1973775000","https://openalex.org/W2748922771","https://openalex.org/W1987128138"],"abstract_inverted_index":{"Achieving":[0],"dexterous":[1,31,114],"in-hand":[2,42,57,90],"manipulation":[3,32,91,136],"with":[4],"robot":[5,63,115],"hands":[6],"is":[7,33,72,125],"an":[8],"extremely":[9],"challenging":[10],"problem,":[11],"in":[12,18],"part":[13],"due":[14],"to":[15,46],"current":[16],"limitations":[17],"hardware":[19,29],"design.":[20],"One":[21],"notable":[22],"bottleneck":[23],"hampering":[24],"the":[25,34,65,102,118,128,134,147],"development":[26],"of":[27,36,77,87,101,133,146],"improved":[28],"for":[30,40,55,60,99,144],"lack":[35],"a":[37,52,75,106,113],"standardized":[38],"benchmark":[39,54,71],"evaluating":[41,56],"dexterity.":[43],"In":[44],"order":[45],"address":[47],"this":[48],"issue,":[49],"we":[50,111],"establish":[51],"new":[53],"dexterity,":[58],"specifically":[59],"humanoid":[61],"type":[62],"hands:":[64],"Elliott":[66,82],"and":[67,83,85,96,104,138],"Connolly":[68],"Benchmark.":[69],"This":[70],"based":[73],"on":[74],"classification":[76],"human":[78,140],"manipulations":[79],"established":[80],"by":[81],"Connolly,":[84],"consists":[86],"13":[88,135],"distinct":[89],"patterns.":[92,148],"We":[93],"define":[94],"qualitative":[95],"quantitative":[97],"metrics":[98],"evaluation":[100],"benchmark,":[103,129],"provide":[105],"detailed":[107],"testing":[108],"protocol.":[109],"Additionally,":[110],"introduce":[112],"hand":[116,141],"-":[117,123],"CMU":[119],"Foam":[120],"Hand":[121],"III":[122],"which":[124],"evaluated":[126],"using":[127],"successfully":[130],"completing":[131],"10":[132],"patterns":[137],"outperforming":[139],"baseline":[142],"results":[143],"several":[145]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}