{"id":"https://openalex.org/W2051891405","doi":"https://doi.org/10.1109/icra.2014.6906958","title":"Stability of soft-finger grasp under gravity","display_name":"Stability of soft-finger grasp under gravity","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2051891405","doi":"https://doi.org/10.1109/icra.2014.6906958","mag":"2051891405"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6906958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906958","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5016270703","display_name":"Kensuke Harada","orcid":"https://orcid.org/0000-0002-7576-756X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kensuke Harada","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010032030","display_name":"Tokuo Tsuji","orcid":"https://orcid.org/0000-0002-1573-1928"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tokuo Tsuji","raw_affiliation_strings":["Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka 819-0395, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka 819-0395, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090556856","display_name":"Soichiro Uto","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Soichiro Uto","raw_affiliation_strings":["Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka 819-0395, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka 819-0395, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066637748","display_name":"Natsuki Yamanobe","orcid":"https://orcid.org/0000-0001-8885-3064"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Natsuki Yamanobe","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065735828","display_name":"Kazuyuki Nagata","orcid":"https://orcid.org/0000-0002-8912-0943"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuyuki Nagata","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001963047","display_name":"K. Kitagaki","orcid":"https://orcid.org/0000-0003-0067-0410"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kosei Kitagaki","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2831,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.92298524,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"883","last_page":"888"},"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.996399998664856,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9915000200271606,"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/grasp","display_name":"GRASP","score":0.9387359619140625},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6582780480384827},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.570105791091919},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5690997838973999},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.5468088388442993},{"id":"https://openalex.org/keywords/cluster","display_name":"Cluster (spacecraft)","score":0.5226278305053711},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4310517907142639},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42798519134521484},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.4164621829986572}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9387359619140625},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6582780480384827},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.570105791091919},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5690997838973999},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.5468088388442993},{"id":"https://openalex.org/C164866538","wikidata":"https://www.wikidata.org/wiki/Q367351","display_name":"Cluster (spacecraft)","level":2,"score":0.5226278305053711},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4310517907142639},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42798519134521484},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.4164621829986572},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6906958","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906958","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W179372779","https://openalex.org/W1794703952","https://openalex.org/W1820657498","https://openalex.org/W2021739591","https://openalex.org/W2021964512","https://openalex.org/W2060696844","https://openalex.org/W2063461900","https://openalex.org/W2111186375","https://openalex.org/W2136909956","https://openalex.org/W2140173255","https://openalex.org/W2140586277","https://openalex.org/W2141968766","https://openalex.org/W2143945240","https://openalex.org/W2149175962","https://openalex.org/W2153942448","https://openalex.org/W2157063701","https://openalex.org/W2157573570","https://openalex.org/W2159242227","https://openalex.org/W2170969000","https://openalex.org/W2508641384"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2657478029","https://openalex.org/W2626503888","https://openalex.org/W2080808138","https://openalex.org/W4387962997","https://openalex.org/W2003033547","https://openalex.org/W2129483190"],"abstract_inverted_index":{"We":[0,80],"discuss":[1],"grasp":[2,75,90],"stability":[3,76],"under":[4,77],"gravity":[5,106],"where":[6],"each":[7],"finger":[8,21,30,46],"makes":[9],"soft-finger":[10,78,89],"contact":[11,26,60],"with":[12],"an":[13,23,32,41,101],"object.":[14],"By":[15,64],"clustering":[16],"polygon":[17],"models":[18],"of":[19,87,105,113],"a":[20,29,45,84,88],"and":[22,31,44],"object,":[24,102],"the":[25,37,51,55,59,95,103,111,114],"area":[27,39,61],"between":[28,40],"object":[33,42],"is":[34,62,98,107],"obtained":[35],"as":[36],"common":[38],"cluster":[43],"cluster.":[47],"Then,":[48],"by":[49,91],"assuming":[50,92],"Winkler":[52],"elastic":[53],"foundation,":[54],"pressure":[56,67],"distribution":[57],"within":[58],"obtained.":[63],"using":[65],"this":[66],"distribution,":[68],"we":[69,72,117],"show":[70,118],"that":[71,93],"can":[73],"judge":[74],"contact.":[79],"further":[81],"consider":[82],"defining":[83],"quality":[85],"measure":[86],"although":[94],"gravitational":[96],"force":[97],"applied":[99],"to":[100],"direction":[104],"unknown.":[108],"To":[109],"demonstrate":[110],"effectiveness":[112],"proposed":[115],"approach,":[116],"several":[119],"numerical":[120],"examples.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
