{"id":"https://openalex.org/W2059529748","doi":"https://doi.org/10.1109/icra.2012.6225091","title":"Local Force Closure","display_name":"Local Force Closure","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2059529748","doi":"https://doi.org/10.1109/icra.2012.6225091","mag":"2059529748"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225091","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":"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/A5020878434","display_name":"Heinrich Kruger","orcid":null},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Heinrich Kruger","raw_affiliation_strings":["Department of Information and Computing Sciences, University of Utrecht, Utrecht, Netherlands","Department of Information and Computing Sciences, Utrecht University, PO Box 80.089, 3508TB, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Information and Computing Sciences, University of Utrecht, Utrecht, Netherlands","institution_ids":["https://openalex.org/I193662353"]},{"raw_affiliation_string":"Department of Information and Computing Sciences, Utrecht University, PO Box 80.089, 3508TB, The Netherlands","institution_ids":["https://openalex.org/I193662353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049467216","display_name":"Elon Rimon","orcid":"https://orcid.org/0000-0002-8270-6167"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Elon Rimon","raw_affiliation_strings":["Robot Motion Laboratory at the Faculty of Mechanical Engineering, Technion-Israel Institute of Technology, Haifa, Israel","Robot Motion Laboratory at the Faculty of Mechanical Engineering, Technion Israel Institute of Technology, Technion City, Haifa 3200, Israel"],"affiliations":[{"raw_affiliation_string":"Robot Motion Laboratory at the Faculty of Mechanical Engineering, Technion-Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]},{"raw_affiliation_string":"Robot Motion Laboratory at the Faculty of Mechanical Engineering, Technion Israel Institute of Technology, Technion City, Haifa 3200, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044860343","display_name":"A. Frank van der Stappen","orcid":"https://orcid.org/0000-0001-7965-2818"},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"A. Frank van der Stappen","raw_affiliation_strings":["Department of Information and Computing Sciences, University of Utrecht, Utrecht, Netherlands","Department of Information and Computing Sciences, Utrecht University, PO Box 80.089, 3508TB, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Information and Computing Sciences, University of Utrecht, Utrecht, Netherlands","institution_ids":["https://openalex.org/I193662353"]},{"raw_affiliation_string":"Department of Information and Computing Sciences, Utrecht University, PO Box 80.089, 3508TB, The Netherlands","institution_ids":["https://openalex.org/I193662353"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5020878434"],"corresponding_institution_ids":["https://openalex.org/I193662353"],"apc_list":null,"apc_paid":null,"fwci":2.8152,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.91051653,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"10","issue":null,"first_page":"4176","last_page":"4182"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9961000084877014,"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.9913845658302307},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8874799013137817},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6908400058746338},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.6779199838638306},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4735899567604065},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4477901756763458},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.387629896402359},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2730972468852997},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16394442319869995},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1092151403427124}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.9913845658302307},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8874799013137817},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6908400058746338},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.6779199838638306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4735899567604065},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4477901756763458},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.387629896402359},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2730972468852997},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16394442319869995},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1092151403427124},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6225091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225091","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1544121396","https://openalex.org/W1597469550","https://openalex.org/W1794703952","https://openalex.org/W1820657498","https://openalex.org/W1901378578","https://openalex.org/W1925324831","https://openalex.org/W1979838628","https://openalex.org/W2013833162","https://openalex.org/W2027387410","https://openalex.org/W2028087246","https://openalex.org/W2029909232","https://openalex.org/W2035626386","https://openalex.org/W2048517616","https://openalex.org/W2052020945","https://openalex.org/W2055156887","https://openalex.org/W2059155916","https://openalex.org/W2064878003","https://openalex.org/W2103189462","https://openalex.org/W2116817751","https://openalex.org/W2117826078","https://openalex.org/W2125483852","https://openalex.org/W2132835866","https://openalex.org/W2140173255","https://openalex.org/W2161152516","https://openalex.org/W2163192420","https://openalex.org/W2164434413","https://openalex.org/W2164950960","https://openalex.org/W2568603896","https://openalex.org/W4234100982","https://openalex.org/W6635531905","https://openalex.org/W6640245514"],"related_works":["https://openalex.org/W2975514431","https://openalex.org/W3090651099","https://openalex.org/W847404441","https://openalex.org/W2971446651","https://openalex.org/W2000145385","https://openalex.org/W1974072120","https://openalex.org/W2219151122","https://openalex.org/W3082835097","https://openalex.org/W1969497836","https://openalex.org/W2657478029"],"abstract_inverted_index":{"We":[0,8,108,205],"introduce":[1],"the":[2,42,82,190,195,216],"concept":[3],"of":[4,21,41,97,120,155,157,163,192],"Local":[5,52],"Force":[6],"Closure.":[7],"define":[9],"a":[10,16,60,95,121,136],"local":[11,31,220],"force":[12,53,221],"closure":[13,54,222],"grasp":[14,17,46,61,170],"as":[15,27,29],"which":[18],"is":[19,55,78,94,189,199],"capable":[20,162],"resisting":[22,164],"some":[23,39,49,66,79,102,176,200],"given":[24,43,50,67,125,137],"external":[25,68,84,145],"wrench":[26,37,85,126,146],"well":[28],"(through":[30],"variation":[32],"in":[33,38,57,115,179,194],"contact":[34,116],"wrenches)":[35],"any":[36,124],"neighborhood":[40],"wrench,":[44,69],"with":[45,101,117,140,169],"quality":[47,171],"exceeding":[48],"threshold.":[51],"useful":[56],"applications":[58],"where":[59,76,92,187],"only":[62],"needs":[63,87],"to":[64,88,99,151,175,209,213],"resist":[65],"rather":[70],"than":[71],"fully":[72],"constraining":[73],"object,":[74,123],"but":[75],"there":[77,93],"uncertainty":[80],"regarding":[81],"exact":[83],"that":[86,110,159,215],"be":[89,128],"resisted,":[90],"or":[91,173],"possibility":[96],"having":[98],"cope":[100],"(relatively":[103],"small)":[104],"unknown":[105],"disturbance":[106],"forces.":[107],"show":[109,149,207],"by":[111,130],"allowing":[112],"disc-shaped":[113],"fingers":[114],"convex":[118],"vertices":[119,142],"polygonal":[122,138],"can":[127],"resisted":[129],"just":[131],"two":[132],"frictionless":[133],"fingers.":[134],"For":[135],"object":[139],"n":[141],"and":[143,197],"an":[144],"wext,":[147],"we":[148],"how":[150,208],"find":[152],"all":[153],"pairs":[154,193],"features":[156,217],"P,":[158],"admit":[160,219],"grasps":[161],"w":[165],"<sub":[166],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[167,182],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">ext</sub>":[168],"greater":[172],"equal":[174],"threshold":[177],"Q,":[178],"O(n":[180],"<sup":[181],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3/2+\u03b5</sup>":[183],"+":[184],"K)":[185],"time,":[186],"K":[188],"number":[191],"output":[196],"\u03b5":[198],"arbitrarily":[201],"small,":[202],"positive":[203],"constant.":[204],"then":[206],"adapt":[210],"our":[211],"algorithm":[212],"guarantee":[214],"reported,":[218],"grasps.":[223]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
