{"id":"https://openalex.org/W1970764783","doi":"https://doi.org/10.1109/icra.2012.6225068","title":"Power grasp planning for anthropomorphic robot hands","display_name":"Power grasp planning for anthropomorphic robot hands","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1970764783","doi":"https://doi.org/10.1109/icra.2012.6225068","mag":"1970764783"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5048087019","display_name":"M\u00e1ximo A. Roa","orcid":"https://orcid.org/0000-0003-1708-4223"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximo A. Roa","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023640000","display_name":"Max Argus","orcid":"https://orcid.org/0000-0002-1288-7476"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Max J. Argus","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090822920","display_name":"Daniel Leidner","orcid":"https://orcid.org/0000-0001-5091-7122"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Leidner","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110827678","display_name":"Christoph Borst","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Borst","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111425451","display_name":"Gerd Hirzinger","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerd Hirzinger","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":12.582,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.99420729,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"563","last_page":"569"},"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":0.9958999752998352,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9709726572036743},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7219465970993042},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6889801621437073},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6686396598815918},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6009522080421448},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5767654776573181},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.574124276638031},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5166266560554504},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5106170773506165},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.451656699180603},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.42021849751472473},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36196649074554443},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12598103284835815}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9709726572036743},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7219465970993042},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6889801621437073},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6686396598815918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6009522080421448},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5767654776573181},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.574124276638031},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5166266560554504},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5106170773506165},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.451656699180603},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.42021849751472473},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36196649074554443},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12598103284835815},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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":2,"locations":[{"id":"doi:10.1109/icra.2012.6225068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:81287","is_oa":false,"landing_page_url":"https://elib.dlr.de/81287/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322832","display_name":"University of Tokyo","ror":"https://ror.org/057zh3y96"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W131069610","https://openalex.org/W1510186039","https://openalex.org/W1564897360","https://openalex.org/W1794703952","https://openalex.org/W1977548570","https://openalex.org/W2018613909","https://openalex.org/W2039019138","https://openalex.org/W2061476992","https://openalex.org/W2064878003","https://openalex.org/W2088317162","https://openalex.org/W2090672420","https://openalex.org/W2106215490","https://openalex.org/W2110208234","https://openalex.org/W2118262422","https://openalex.org/W2120529242","https://openalex.org/W2126496149","https://openalex.org/W2134060734","https://openalex.org/W2134167019","https://openalex.org/W2134676105","https://openalex.org/W2142643189","https://openalex.org/W2144573888","https://openalex.org/W2149729559","https://openalex.org/W2153504150","https://openalex.org/W2156219259","https://openalex.org/W2159972489","https://openalex.org/W2172108647","https://openalex.org/W2542011642","https://openalex.org/W3145999077","https://openalex.org/W6659982258","https://openalex.org/W6680854185"],"related_works":["https://openalex.org/W2666340839","https://openalex.org/W2128621978","https://openalex.org/W2088476797","https://openalex.org/W2625202073","https://openalex.org/W3003943238","https://openalex.org/W4312362134","https://openalex.org/W2335672962","https://openalex.org/W429889454","https://openalex.org/W2013947590","https://openalex.org/W2775488915"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,46],"approach":[4],"for":[5,9,40,44],"computing":[6],"power":[7],"grasps":[8],"hands":[10],"with":[11,49,82,102],"kinematic":[12],"structure":[13],"similar":[14],"to":[15,38,60,84],"the":[16,21,35,41,57,62,66,76,80,85,89,95],"human":[17,27],"hand,":[18,86],"which":[19],"allows":[20],"implementation":[22],"of":[23,65,79,91],"strategies":[24,71],"inspired":[25],"in":[26,94],"grasping":[28],"actions.":[29],"The":[30],"proposed":[31],"method":[32],"first":[33],"samples":[34],"object":[36,67,81],"surface":[37],"look":[39],"best":[42],"spots":[43],"creating":[45],"opposing":[47],"grasp":[48,70],"two":[50,103],"or":[51],"three":[52],"fingers,":[53],"and":[54,87],"then":[55],"aligns":[56],"other":[58],"fingers":[59],"match":[61],"local":[63],"curvature":[64],"surface.":[68],"Different":[69],"are":[72,100],"considered,":[73],"depending":[74],"on":[75,88],"relative":[77],"size":[78],"respect":[83],"location":[90],"potential":[92],"obstacles":[93],"environment.":[96],"Several":[97],"application":[98],"examples":[99],"provided":[101],"different":[104],"hand":[105],"models.":[106]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
