{"id":"https://openalex.org/W4386159557","doi":"https://doi.org/10.1109/icarm58088.2023.10218939","title":"A Robot Gripper with Differential and Hoeckens Linkages for Straight Parallel Pinch and Self-Adaptive Grasp","display_name":"A Robot Gripper with Differential and Hoeckens Linkages for Straight Parallel Pinch and Self-Adaptive Grasp","publication_year":2023,"publication_date":"2023-07-08","ids":{"openalex":"https://openalex.org/W4386159557","doi":"https://doi.org/10.1109/icarm58088.2023.10218939"},"language":"en","primary_location":{"id":"doi:10.1109/icarm58088.2023.10218939","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icarm58088.2023.10218939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5019407946","display_name":"Yankai Liu","orcid":"https://orcid.org/0000-0002-6559-2348"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yankai Liu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102941157","display_name":"Wenzeng Zhang","orcid":"https://orcid.org/0000-0003-3537-147X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wenzeng Zhang","raw_affiliation_strings":["X-Institute,Shenzhen,China,518122"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"X-Institute,Shenzhen,China,518122","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1721,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.45954648,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"107","issue":null,"first_page":"612","last_page":"617"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996399998664856,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8348572254180908},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5706204175949097},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5065771341323853},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4947609305381775},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4901908040046692},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4889303743839264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3784557282924652},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36562037467956543},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34062743186950684},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3240962624549866},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1183314323425293}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8348572254180908},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5706204175949097},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5065771341323853},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4947609305381775},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4901908040046692},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4889303743839264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3784557282924652},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36562037467956543},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34062743186950684},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3240962624549866},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1183314323425293},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm58088.2023.10218939","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icarm58088.2023.10218939","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/W1520726269","https://openalex.org/W2007924815","https://openalex.org/W2061313271","https://openalex.org/W2064032272","https://openalex.org/W2076188106","https://openalex.org/W2139990746","https://openalex.org/W2149699537","https://openalex.org/W2159717066","https://openalex.org/W2417852104","https://openalex.org/W2545152965","https://openalex.org/W2919654244","https://openalex.org/W2922426839","https://openalex.org/W3207311111","https://openalex.org/W4239340743","https://openalex.org/W6630988379"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2324418439","https://openalex.org/W2157487448","https://openalex.org/W2387707337","https://openalex.org/W2078568084","https://openalex.org/W4200004409"],"abstract_inverted_index":{"For":[0],"grasp":[1,151,154],"modes,":[2],"parallel":[3,15,98,143],"pinch":[4],"is":[5,58,66,87,131],"one":[6],"of":[7,11,30,54,73,82,93,118,135],"the":[8,28,47,70,74,97,101,109,121,137,141],"significant":[9],"way":[10],"them.":[12],"The":[13,62,80,128,156],"traditional":[14],"pinching":[16,144],"and":[17,60,115,145],"self-adaption":[18,146],"device":[19],"moves":[20],"with":[21,41,149],"arc-shaped":[22],"motion":[23,72,116],"at":[24],"phalanx":[25,85],"terminal,":[26],"requiring":[27],"assistance":[29],"an":[31],"industrial":[32],"robotic":[33],"arm":[34],"for":[35,68,89],"lifting":[36],"motion,":[37],"making":[38],"using":[39],"it":[40],"inconvenience.":[42],"So":[43],"as":[44],"to":[45,103,162],"settle":[46],"issue,":[48],"Hoeckens":[49,63,119,129,138,157],"finger":[50,57],"-":[51],"a":[52],"kind":[53],"novel":[55],"robot":[56],"modeled":[59],"produced.":[61,132],"linkage":[64],"mechanism":[65,81],"adopted":[67],"achieving":[69,90],"linear":[71],"terminal":[75],"joint":[76],"in":[77,165],"this":[78],"finger.":[79],"differential":[83],"on":[84],"surface":[86],"set":[88],"shape":[91],"self-adaptation":[92],"two":[94],"phalanxes.":[95],"And":[96],"four-bar":[99],"has":[100],"ability":[102],"keep":[104],"attitude.":[105],"Above":[106],"designs":[107],"achieve":[108],"underactuated":[110],"gripper.":[111],"After":[112],"grasping":[113,147],"force":[114],"analysis":[117],"fingers,":[120],"optimized":[122],"parameters":[123],"can":[124,159],"be":[125,160],"attained.":[126],"Then":[127],"gripper":[130,139,158],"With":[133],"results":[134],"experiments,":[136],"achieves":[140],"straight":[142],"function,":[148],"large":[150],"range,":[152],"stable":[153],"effect.":[155],"used":[161],"capture":[163],"objects":[164],"more":[166],"conditions.":[167]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}