{"id":"https://openalex.org/W4404953570","doi":"https://doi.org/10.1109/humanoids58906.2024.10769886","title":"Structural Synthesis and Optimisation of a Robotic Gripper Using Generative AI Design","display_name":"Structural Synthesis and Optimisation of a Robotic Gripper Using Generative AI Design","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4404953570","doi":"https://doi.org/10.1109/humanoids58906.2024.10769886"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids58906.2024.10769886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd 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/A5052826131","display_name":"Hamid Isakhani","orcid":"https://orcid.org/0000-0002-7443-371X"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hamid Isakhani","raw_affiliation_strings":["University of Birmingham,Birmingham Institute for Robotics, School of Engineering, College of Engineering and Physical Sciences,Birmingham,United Kingdom,B15 2TT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Birmingham,Birmingham Institute for Robotics, School of Engineering, College of Engineering and Physical Sciences,Birmingham,United Kingdom,B15 2TT","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008418736","display_name":"Samia Nefti\u2010Meziani","orcid":"https://orcid.org/0000-0001-6500-2929"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Samia Nefti-Meziani","raw_affiliation_strings":["University of Birmingham,Birmingham Institute for Robotics, School of Engineering, College of Engineering and Physical Sciences,Birmingham,United Kingdom,B15 2TT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Birmingham,Birmingham Institute for Robotics, School of Engineering, College of Engineering and Physical Sciences,Birmingham,United Kingdom,B15 2TT","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110467531","display_name":"Steve Davis","orcid":"https://orcid.org/0000-0002-4365-5619"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Steve Davis","raw_affiliation_strings":["University of Birmingham,Birmingham Institute for Robotics, School of Engineering, College of Engineering and Physical Sciences,Birmingham,United Kingdom,B15 2TT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Birmingham,Birmingham Institute for Robotics, School of Engineering, College of Engineering and Physical Sciences,Birmingham,United Kingdom,B15 2TT","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021458446","display_name":"Amir M. Hajiyavand","orcid":"https://orcid.org/0000-0002-6666-7866"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Amir M. Hajiyavand","raw_affiliation_strings":["University of Birmingham,Birmingham Institute for Robotics, School of Engineering, College of Engineering and Physical Sciences,Birmingham,United Kingdom,B15 2TT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Birmingham,Birmingham Institute for Robotics, School of Engineering, College of Engineering and Physical Sciences,Birmingham,United Kingdom,B15 2TT","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100619100","display_name":"Xinhua Xu","orcid":"https://orcid.org/0000-0001-7139-1246"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xiazhen Xu","raw_affiliation_strings":["University of Birmingham,Birmingham Institute for Robotics, School of Engineering, College of Engineering and Physical Sciences,Birmingham,United Kingdom,B15 2TT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Birmingham,Birmingham Institute for Robotics, School of Engineering, College of Engineering and Physical Sciences,Birmingham,United Kingdom,B15 2TT","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7458,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.67820949,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"91","last_page":"97"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11006","display_name":"BIM and Construction Integration","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.6815657615661621},{"id":"https://openalex.org/keywords/intuition","display_name":"Intuition","score":0.618614137172699},{"id":"https://openalex.org/keywords/engineering-design-process","display_name":"Engineering design process","score":0.5105735063552856},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4634513556957245},{"id":"https://openalex.org/keywords/design-process","display_name":"Design process","score":0.46330031752586365},{"id":"https://openalex.org/keywords/generative-design","display_name":"Generative Design","score":0.45921894907951355},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.4562160074710846},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3998798429965973},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.331046462059021},{"id":"https://openalex.org/keywords/work-in-process","display_name":"Work in process","score":0.21988144516944885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20901381969451904},{"id":"https://openalex.org/keywords/compatibility","display_name":"Compatibility (geochemistry)","score":0.18581068515777588},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11689969897270203}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6815657615661621},{"id":"https://openalex.org/C132010649","wikidata":"https://www.wikidata.org/wiki/Q189222","display_name":"Intuition","level":2,"score":0.618614137172699},{"id":"https://openalex.org/C34972735","wikidata":"https://www.wikidata.org/wiki/Q2920267","display_name":"Engineering design process","level":2,"score":0.5105735063552856},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4634513556957245},{"id":"https://openalex.org/C48262172","wikidata":"https://www.wikidata.org/wiki/Q16908765","display_name":"Design process","level":3,"score":0.46330031752586365},{"id":"https://openalex.org/C184408114","wikidata":"https://www.wikidata.org/wiki/Q1502022","display_name":"Generative Design","level":3,"score":0.45921894907951355},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4562160074710846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3998798429965973},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.331046462059021},{"id":"https://openalex.org/C174998907","wikidata":"https://www.wikidata.org/wiki/Q357662","display_name":"Work in process","level":2,"score":0.21988144516944885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20901381969451904},{"id":"https://openalex.org/C2778648169","wikidata":"https://www.wikidata.org/wiki/Q967768","display_name":"Compatibility (geochemistry)","level":2,"score":0.18581068515777588},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11689969897270203},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids58906.2024.10769886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W319751206","https://openalex.org/W1440114663","https://openalex.org/W1971320014","https://openalex.org/W1971688004","https://openalex.org/W1975983742","https://openalex.org/W1994507745","https://openalex.org/W2007170601","https://openalex.org/W2022293284","https://openalex.org/W2029744358","https://openalex.org/W2048058874","https://openalex.org/W2058840657","https://openalex.org/W2066878366","https://openalex.org/W2085512126","https://openalex.org/W2097189012","https://openalex.org/W2098165031","https://openalex.org/W2108924389","https://openalex.org/W2158145254","https://openalex.org/W2164575107","https://openalex.org/W2343757578","https://openalex.org/W2468050848","https://openalex.org/W2560257588","https://openalex.org/W2589847876","https://openalex.org/W2592704056","https://openalex.org/W2612144999","https://openalex.org/W2740763895","https://openalex.org/W2807254784","https://openalex.org/W2902166426","https://openalex.org/W2911515297","https://openalex.org/W2914475755","https://openalex.org/W2918647112","https://openalex.org/W2973761438","https://openalex.org/W2990410878","https://openalex.org/W2991371150","https://openalex.org/W3021169992","https://openalex.org/W3190840267","https://openalex.org/W4210853116","https://openalex.org/W4241142304","https://openalex.org/W4285102360","https://openalex.org/W4285102438","https://openalex.org/W4285102446","https://openalex.org/W4389667364","https://openalex.org/W6889778334"],"related_works":["https://openalex.org/W1537660933","https://openalex.org/W4318611897","https://openalex.org/W4381571023","https://openalex.org/W2039907976","https://openalex.org/W4388873810","https://openalex.org/W1983545477","https://openalex.org/W4401285944","https://openalex.org/W2991395105","https://openalex.org/W2993624081","https://openalex.org/W2147674046"],"abstract_inverted_index":{"As":[0],"a":[1,17,34,59,67,87,109,157],"problem-solving":[2],"activity,":[3],"engineering":[4],"design":[5,60,79,114],"is":[6,33,43,102],"usually":[7,24],"iterative":[8],"involving":[9,81],"multiple":[10],"proposed":[11],"solutions":[12,57,138],"that":[13,49],"are":[14,154],"tested":[15],"against":[16],"predefined":[18],"set":[19],"of":[20,66,86,123,151],"constraints.":[21],"Human":[22],"designers":[23],"rely":[25],"on":[26],"their":[27],"knowledge,":[28],"experience,":[29],"and":[30,52,84,93,132,168],"intuition,":[31],"which":[32],"drawback":[35],"when":[36],"dealing":[37],"with":[38],"certain":[39],"unknown":[40],"problems.":[41],"This":[42,71,101],"easily":[44],"overcome":[45],"by":[46,104],"an":[47],"AI":[48],"can":[50],"generate":[51,121],"test":[53],"several":[54],"thousand":[55],"alternative":[56],"to":[58,74,129,144,179],"problem":[61],"iteratively":[62],"in":[63,98,112,127],"the":[64,82,106,113,117,146,161],"form":[65],"parametric":[68],"computational":[69,135],"model.":[70,136],"paper":[72,153],"seeks":[73],"present":[75],"one":[76],"such":[77],"automated":[78],"process":[80],"development":[83],"testing":[85],"low-maintenance":[88],"robotic":[89],"gripper":[90],"featuring":[91],"underactuation":[92],"reduced":[94],"weight":[95,176],"for":[96],"missions":[97],"extreme":[99],"environments.":[100],"achieved":[103,172],"considering":[105],"computer":[107],"as":[108],"collaborative":[110],"partner":[111],"process,":[115],"where":[116],"cloud":[118],"computing":[119],"engines":[120],"thousands":[122],"mechanically":[124],"improved":[125,163],"designs":[126],"response":[128],"our":[130],"rigorous":[131],"robust":[133],"input":[134],"Generated":[137],"include":[139],"uniquely":[140],"synthesised":[141],"structures":[142],"designed":[143],"achieve":[145],"aforementioned":[147],"objectives.":[148],"Notable":[149],"contributions":[150],"this":[152],"presented":[155],"through":[156,173],"comparative":[158],"study":[159],"confirming":[160],"gripper\u2019s":[162],"component":[164],"accessibility,":[165],"structural":[166],"resilience,":[167],"doubled":[169],"weight-to-power":[170],"ratio":[171],"73%":[174],"crude":[175],"reduction":[177],"compared":[178],"its":[180],"predecessor.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}