{"id":"https://openalex.org/W3091451982","doi":"https://doi.org/10.1109/icra40945.2020.9196615","title":"Theoretical Derivation and Realization of Adaptive Grasping Based on Rotational Incipient Slip Detection","display_name":"Theoretical Derivation and Realization of Adaptive Grasping Based on Rotational Incipient Slip Detection","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091451982","doi":"https://doi.org/10.1109/icra40945.2020.9196615","mag":"3091451982"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196615","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5078243726","display_name":"Tetsuya Narita","orcid":"https://orcid.org/0000-0003-1214-694X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Tetsuya Narita","raw_affiliation_strings":["Sony Corporation, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Sony Corporation, Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032242637","display_name":"Satoko Nagakari","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Satoko Nagakari","raw_affiliation_strings":["Sony Corporation, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Sony Corporation, Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069116447","display_name":"William Conus","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"William Conus","raw_affiliation_strings":["Sony Corporation, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Sony Corporation, Tokyo, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004144168","display_name":"Toshimitsu Tsuboi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Toshimitsu Tsuboi","raw_affiliation_strings":["Sony Corporation, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Sony Corporation, Tokyo, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108808190","display_name":"Kenichiro Nagasaka","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kenichiro Nagasaka","raw_affiliation_strings":["Sony Corporation, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Sony Corporation, Tokyo, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5078243726"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.324,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.80639578,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"531","last_page":"537"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9983999729156494,"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/slipping","display_name":"Slipping","score":0.9233429431915283},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9146488904953003},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.7388954162597656},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5502080321311951},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5307013392448425},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5182554721832275},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5101526379585266},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5040589570999146},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43466025590896606},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.42812785506248474},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4257768392562866},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4206942021846771},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.299072802066803},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29356032609939575},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23129802942276},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2166663408279419},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17129796743392944},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16690972447395325},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1369381844997406},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12582483887672424}],"concepts":[{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.9233429431915283},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9146488904953003},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7388954162597656},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5502080321311951},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5307013392448425},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5182554721832275},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5101526379585266},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5040589570999146},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43466025590896606},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.42812785506248474},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4257768392562866},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4206942021846771},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.299072802066803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29356032609939575},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23129802942276},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2166663408279419},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17129796743392944},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16690972447395325},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1369381844997406},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12582483887672424},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9196615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196615","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W1520048097","https://openalex.org/W1548071717","https://openalex.org/W1973801501","https://openalex.org/W1997587495","https://openalex.org/W2045222441","https://openalex.org/W2045484898","https://openalex.org/W2057299504","https://openalex.org/W2067454831","https://openalex.org/W2099208256","https://openalex.org/W2101079597","https://openalex.org/W2109798715","https://openalex.org/W2114010921","https://openalex.org/W2115669646","https://openalex.org/W2118425652","https://openalex.org/W2127067435","https://openalex.org/W2134918146","https://openalex.org/W2136342353","https://openalex.org/W2162324411","https://openalex.org/W2165341727","https://openalex.org/W2171130677","https://openalex.org/W2221877149","https://openalex.org/W2316596458","https://openalex.org/W2731057901","https://openalex.org/W2737781003","https://openalex.org/W2744653421","https://openalex.org/W2804941773","https://openalex.org/W2890892768","https://openalex.org/W2963915174","https://openalex.org/W3098436915","https://openalex.org/W3106394496","https://openalex.org/W6699825868"],"related_works":["https://openalex.org/W3141131632","https://openalex.org/W2084206618","https://openalex.org/W2161039994","https://openalex.org/W3167844684","https://openalex.org/W4386154653","https://openalex.org/W2800387041","https://openalex.org/W2837391606","https://openalex.org/W4389155065","https://openalex.org/W3110003679","https://openalex.org/W786435168"],"abstract_inverted_index":{"Manipulating":[0],"objects":[1,25,146],"whose":[2],"physical":[3],"properties":[4,54],"are":[5,62,136],"unknown":[6,24,42],"remains":[7],"one":[8],"of":[9,22,57,69,87,92,107],"the":[10,70,104,132,139],"greatest":[11],"challenges":[12],"in":[13],"robotics.":[14],"Controlling":[15],"grasp":[16,39,65,126],"force":[17,40,66,127],"is":[18,45,76,142],"an":[19],"essential":[20],"aspect":[21],"handling":[23],"without":[26],"slipping":[27],"or":[28],"crushing":[29],"them.":[30],"Although":[31],"extensive":[32],"research":[33],"has":[34,82],"been":[35,83],"carried":[36],"out":[37],"on":[38,95,102,131],"control,":[41],"object":[43,53],"manipulation":[44],"still":[46],"difficult":[47],"because":[48],"conventional":[49],"approaches":[50,71],"assume":[51],"that":[52],"(mass,":[55],"center":[56],"gravity,":[58],"friction":[59],"coefficient,":[60],"etc.)":[61],"known":[63],"for":[64],"control.":[67],"One":[68],"to":[72,115],"address":[73],"this":[74],"issue":[75],"incipient":[77,93,108,117],"slip":[78,94,109],"detection.":[79],"However,":[80],"there":[81],"few":[84],"detailed":[85],"investigations":[86],"robust":[88],"detection":[89],"and":[90,110,124,150],"control":[91,128],"rotational":[96],"case.":[97],"This":[98],"study":[99],"makes":[100],"contributions":[101],"deriving":[103],"theoretical":[105,134],"model":[106,135],"proposes":[111],"a":[112,120,125,153],"new":[113],"algorithm":[114,129,141],"detect":[116],"slip.":[118],"Additionally,":[119],"novel":[121],"sensor":[122],"configuration":[123],"based":[130],"derived":[133],"proposed.":[137],"Finally,":[138],"proposed":[140],"evaluated":[143],"by":[144],"grasping":[145],"with":[147],"different":[148],"weights":[149],"moments":[151],"including":[152],"fragile":[154],"pastry":[155],"(\u00e9clair).":[156]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}