{"id":"https://openalex.org/W2209501011","doi":"https://doi.org/10.1109/icra.2016.7487698","title":"A new interaction force decomposition maximizing compensating forces under physical work constraints","display_name":"A new interaction force decomposition maximizing compensating forces under physical work constraints","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2209501011","doi":"https://doi.org/10.1109/icra.2016.7487698","mag":"2209501011"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487698","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://eprints.uwe.ac.uk/27107/1/Schmidts_TR2013.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083338552","display_name":"Alexander M. Schmidts","orcid":null},"institutions":[{"id":"https://openalex.org/I4210129999","display_name":"KUKA (Germany)","ror":"https://ror.org/02y22dj89","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210129999"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Alexander M. Schmidts","raw_affiliation_strings":["KUKA GmbH, Augsburg, Germany"],"affiliations":[{"raw_affiliation_string":"KUKA GmbH, Augsburg, Germany","institution_ids":["https://openalex.org/I4210129999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012167061","display_name":"Manuel K. Schneider","orcid":"https://orcid.org/0000-0002-3842-2618"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Schneider","raw_affiliation_strings":["Institute of Automatic Control Engineering Technische Universit \u00e4t M \u00fcnchen","Institute of Automatic Control Engineering D-80290 Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering Technische Universit \u00e4t M \u00fcnchen","institution_ids":["https://openalex.org/I4210157642"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering D-80290 Munich, Germany","institution_ids":["https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061729457","display_name":"Markus K\u00fchne","orcid":"https://orcid.org/0000-0003-3877-8830"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","GB"],"is_corresponding":false,"raw_author_name":"Markus Kuhne","raw_affiliation_strings":["Biomimetic Robotics and Machine Learning Laboratory, Technische Universit\u00e4t M\u00fcnchen, Munich","Bristol Robotics Laboratory, University of the West of England, Bristol, UK"],"affiliations":[{"raw_affiliation_string":"Biomimetic Robotics and Machine Learning Laboratory, Technische Universit\u00e4t M\u00fcnchen, Munich","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Bristol Robotics Laboratory, University of the West of England, Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083668298","display_name":"Angelika Peer","orcid":"https://orcid.org/0000-0002-2896-9011"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Angelika Peer","raw_affiliation_strings":["Bristol Robotics Laboratory, University of the West of England, Bristol, UK"],"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, University of the West of England, Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5083338552"],"corresponding_institution_ids":["https://openalex.org/I4210129999"],"apc_list":null,"apc_paid":null,"fwci":0.5356,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.66539563,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4922","last_page":"4929"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.8360680341720581},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8123009204864502},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6587588787078857},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.5869101881980896},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5685547590255737},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.47272080183029175},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3387497067451477},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2568913400173187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24838462471961975}],"concepts":[{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.8360680341720581},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8123009204864502},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6587588787078857},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.5869101881980896},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5685547590255737},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.47272080183029175},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3387497067451477},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2568913400173187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24838462471961975},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra.2016.7487698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487698","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:alma.39UBZ_INST:11287008770001241","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/7487698","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:eprints.uwe.ac.uk:27107","is_oa":true,"landing_page_url":"http://eprints.uwe.ac.uk/27107/1/Schmidts_TR2013.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306401464","display_name":"UWE Research Repository (UWE Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I178535277","host_organization_name":"University of the West of England","host_organization_lineage":["https://openalex.org/I178535277"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Report or Working Paper"},{"id":"pmh:oai:eprints.uwe.ac.uk:29157","is_oa":true,"landing_page_url":"http://eprints.uwe.ac.uk/29157/1/Schmidts_ICRA2016_final.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306401464","display_name":"UWE Research Repository (UWE Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I178535277","host_organization_name":"University of the West of England","host_organization_lineage":["https://openalex.org/I178535277"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:unibz.it:11287008770001241","is_oa":false,"landing_page_url":"https://bia.unibz.it/esploro/outputs/conferenceProceeding/A-New-Interaction-Force-Decomposition-Maximizing/991006449198401241","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:eprints.uwe.ac.uk:27107","is_oa":true,"landing_page_url":"http://eprints.uwe.ac.uk/27107/1/Schmidts_TR2013.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306401464","display_name":"UWE Research Repository (UWE Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I178535277","host_organization_name":"University of the West of England","host_organization_lineage":["https://openalex.org/I178535277"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Report or Working Paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1641694943","https://openalex.org/W1969506947","https://openalex.org/W1979490179","https://openalex.org/W2043339930","https://openalex.org/W2071177285","https://openalex.org/W2107143629","https://openalex.org/W2109079930","https://openalex.org/W2136289252","https://openalex.org/W2141222604","https://openalex.org/W2142753802","https://openalex.org/W2149518514","https://openalex.org/W2149936889","https://openalex.org/W2152106902","https://openalex.org/W2160083885","https://openalex.org/W2164947035","https://openalex.org/W2168121194","https://openalex.org/W2168530549","https://openalex.org/W2169244603","https://openalex.org/W2419281883"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W4387947522"],"abstract_inverted_index":{"In":[0,123],"manipulation":[1],"tasks":[2],"interaction":[3,28,52,75,138,144],"forces":[4,16,29,98,145],"are":[5,108,147],"often":[6],"decomposed":[7],"to":[8,11,30,46,119,125],"be":[9,31],"able":[10],"control":[12],"robustness-reflective":[13,97],"and":[14,68,113,115,140],"accelerating":[15],"separately.":[17],"While":[18],"this":[19],"decomposition":[20,72,82,121],"is":[21,131],"typically":[22],"performed":[23],"for":[24,33,74,90],"the":[25,36,47,63,84,91,101,135],"synthesis":[26],"of":[27,38,49,65,105,137],"applied":[32],"example":[34],"in":[35,88,110,134],"context":[37],"robotic":[39],"grasping,":[40],"less":[41],"attention":[42],"has":[43],"been":[44],"paid":[45],"analysis":[48,77],"measured,":[50],"human":[51],"forces.":[53],"Here,":[54],"we":[55],"introduce":[56],"a":[57,70],"physically-motivated":[58],"bounding":[59,102],"constraint,":[60],"based":[61],"on":[62],"law":[64],"energy":[66],"conservation,":[67],"present":[69],"new":[71,129],"approach":[73,107,130],"force":[76],"with":[78],"rigid":[79],"objects.":[80],"The":[81],"extends":[83],"intuitive":[85],"solution":[86],"known":[87],"literature":[89],"two":[92],"finger":[93],"grasp":[94],"by":[95,116],"maximizing":[96],"while":[99],"respecting":[100],"constraint.":[103],"Advantages":[104],"our":[106,128],"illustrated":[109],"numerical":[111],"examples":[112],"experiments":[114],"comparing":[117],"it":[118],"existing":[120,126],"approaches.":[122],"contrast":[124],"approaches,":[127],"not":[132],"limited":[133],"number":[136],"points":[139],"incorporates":[141],"only":[142],"individual":[143],"which":[146],"physically":[148],"plausible.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
