{"id":"https://openalex.org/W2890287897","doi":"https://doi.org/10.1109/icra.2018.8460531","title":"Dexterous Manipulation by Two Fingers with Coupled Joints","display_name":"Dexterous Manipulation by Two Fingers with Coupled Joints","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890287897","doi":"https://doi.org/10.1109/icra.2018.8460531","mag":"2890287897"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460531","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5020782518","display_name":"Yan-Bin Jia","orcid":"https://orcid.org/0000-0002-0384-6058"},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yan-Bin Jia","raw_affiliation_strings":["Department of Computer Science, Iowa State University AMES, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Iowa State University AMES, USA","institution_ids":["https://openalex.org/I173911158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077254223","display_name":"Yuechuan Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuechuan Xue","raw_affiliation_strings":["Department of Computer Science, Iowa State University AMES, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Iowa State University AMES, USA","institution_ids":["https://openalex.org/I173911158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5020782518"],"corresponding_institution_ids":["https://openalex.org/I173911158"],"apc_list":null,"apc_paid":null,"fwci":0.1839,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.49790845,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"3172","last_page":"3179"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.998199999332428,"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":0.9947999715805054,"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/kinematics","display_name":"Kinematics","score":0.803290605545044},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6245080232620239},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6215590834617615},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5890181660652161},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5871906280517578},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5698769688606262},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5074366927146912},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48580145835876465},{"id":"https://openalex.org/keywords/angular-displacement","display_name":"Angular displacement","score":0.4835226535797119},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.4723830223083496},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44857630133628845},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.3637632131576538},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.3410385847091675},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.33475783467292786},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3088899254798889},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2764764428138733},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23610472679138184},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22949004173278809},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15726280212402344}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.803290605545044},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6245080232620239},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6215590834617615},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5890181660652161},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5871906280517578},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5698769688606262},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5074366927146912},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48580145835876465},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.4835226535797119},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.4723830223083496},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44857630133628845},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.3637632131576538},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3410385847091675},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.33475783467292786},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3088899254798889},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2764764428138733},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23610472679138184},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22949004173278809},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15726280212402344},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8460531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460531","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.75,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1964552838","https://openalex.org/W1999375810","https://openalex.org/W2050211019","https://openalex.org/W2055302917","https://openalex.org/W2085545845","https://openalex.org/W2126701792","https://openalex.org/W2136991536","https://openalex.org/W2155337985","https://openalex.org/W2160004075","https://openalex.org/W2560807493","https://openalex.org/W6730348583"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"This":[0,85],"paper":[1],"studies":[2],"dexterous":[3],"manipulation":[4],"in":[5,12,104],"the":[6,13,43,49,52,55,76,98],"plane":[7],"by":[8],"a":[9,73,92,101,105],"two-fingered":[10],"hand":[11,50],"plane.":[14],"The":[15],"dynamics":[16,70],"of":[17,22,48,54,75,88],"each":[18],"finger,":[19],"which":[20],"consists":[21],"two":[23,44],"links":[24],"with":[25,69],"coupled":[26],"joints,":[27],"are":[28,67],"derived":[29],"based":[30],"on":[31,82],"Lagrangian":[32],"mechanics.":[33],"As":[34],"an":[35],"object":[36,99],"is":[37],"being":[38],"manipulated,":[39],"its":[40],"orientation":[41],"and":[42,64,79],"independent":[45],"joint":[46,83,89],"angles":[47],"constitute":[51],"state":[53],"entire":[56],"system.":[57],"Contact":[58],"kinematics,":[59],"accounting":[60],"for":[61],"both":[62],"stick":[63],"slip":[65],"modes,":[66],"combined":[68],"to":[71,96,100],"establish":[72],"dependence":[74],"object's":[77],"linear":[78],"angular":[80],"accelerations":[81],"accelerations.":[84],"allows":[86],"control":[87],"torques,":[90],"under":[91],"proportional-derivative":[93],"(PD)":[94],"law,":[95],"move":[97],"target":[102],"position":[103],"desired":[106],"orientation.":[107]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}