{"id":"https://openalex.org/W3206621144","doi":"https://doi.org/10.1109/icra48506.2021.9561414","title":"Arm-Hand Systems As Hybrid Parallel-Serial Systems: A Novel Inverse Kinematics Solution","display_name":"Arm-Hand Systems As Hybrid Parallel-Serial Systems: A Novel Inverse Kinematics Solution","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206621144","doi":"https://doi.org/10.1109/icra48506.2021.9561414","mag":"3206621144"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5015250552","display_name":"Shuwei Qiu","orcid":"https://orcid.org/0000-0002-3062-117X"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Shuwei Qiu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Western University, London, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Western University, London, Ontario, Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018767588","display_name":"Mehrdad R. Kermani","orcid":"https://orcid.org/0000-0003-0513-9485"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mehrdad R. Kermani","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Western University, London, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Western University, London, Ontario, Canada","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5015250552"],"corresponding_institution_ids":["https://openalex.org/I125749732"],"apc_list":null,"apc_paid":null,"fwci":0.1386,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46438169,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"6401","last_page":"6407"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9951000213623047,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.7764449119567871},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6645181775093079},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.638626217842102},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5407514572143555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2515038847923279},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19440889358520508},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12787076830863953},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09240040183067322},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08893251419067383}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7764449119567871},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6645181775093079},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.638626217842102},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5407514572143555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2515038847923279},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19440889358520508},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12787076830863953},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09240040183067322},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08893251419067383},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48506.2021.9561414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:ir.lib.uwo.ca:electricalpub-1566","is_oa":false,"landing_page_url":"https://ir.lib.uwo.ca/electricalpub/554","pdf_url":null,"source":{"id":"https://openalex.org/S4306400648","display_name":"Scholarship@Western (Western University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I125749732","host_organization_name":"Western University","host_organization_lineage":["https://openalex.org/I125749732"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Electrical and Computer Engineering Publications","raw_type":"conference"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1597009130","https://openalex.org/W1806263934","https://openalex.org/W1968189907","https://openalex.org/W1976030291","https://openalex.org/W1980928215","https://openalex.org/W1982547038","https://openalex.org/W2016040484","https://openalex.org/W2021570254","https://openalex.org/W2032381729","https://openalex.org/W2037841262","https://openalex.org/W2047246948","https://openalex.org/W2058544403","https://openalex.org/W2069042469","https://openalex.org/W2082511574","https://openalex.org/W2119403459","https://openalex.org/W2199652152","https://openalex.org/W2335757458","https://openalex.org/W2738859796","https://openalex.org/W2804941773","https://openalex.org/W3098436915","https://openalex.org/W4399469378","https://openalex.org/W6638365565","https://openalex.org/W6687779589"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2898458249"],"abstract_inverted_index":{"In":[0],"this":[1,138],"paper,":[2],"we":[3,38,70,116],"aim":[4],"to":[5,15,55,122,136,141,198,230],"solve":[6],"inverse":[7,223],"kinematics":[8,224],"of":[9,32,48,66,110,146,165,202,214,222,225,243],"the":[10,20,49,53,58,63,67,72,90,107,111,123,132,144,147,153,157,162,166,170,175,179,189,200,209,215,220,236,244],"integrated":[11],"robotic":[12,50],"arm-hand":[13,92,113],"systems":[14],"achieve":[16],"precision":[17,227],"grasping,":[18],"provided":[19],"desired":[21],"grasp":[22],"configuration":[23],"(contact":[24],"points":[25],"+":[26],"contact":[27,134],"normals).":[28],"The":[29,101],"key":[30],"insights":[31],"our":[33],"approach":[34,217],"are":[35,83],"three-fold.":[36],"First,":[37],"propose":[39],"a":[40,77,97,118,195],"human-inspired":[41],"thumb-first":[42],"strategy":[43],"and":[44,61,105,178,211],"consider":[45],"one":[46],"finger":[47],"hand":[51],"as":[52,76,85,96,143,161],"\"thumb\"":[54],"narrow":[56],"down":[57],"search":[59],"space":[60,191],"increase":[62],"success":[64,246],"rate":[65,247],"algorithm.":[68],"Second,":[69],"formulate":[71],"arm-thumb":[73,167,171],"serial":[74,86],"chain":[75,79],"closed":[78,168],"while":[80],"other":[81,231],"fingers":[82],"still":[84],"chains":[87],"such":[88],"that":[89],"entire":[91,112],"system":[93],"is":[94],"controlled":[95,186],"hybrid":[98],"parallel-serial":[99],"system.":[100,114],"closed-chain":[102],"formulation":[103],"truncates":[104],"simplifies":[106],"task":[108],"hierarchy":[109],"Third,":[115],"attach":[117],"virtual":[119,139,158],"revolute":[120,159],"joint":[121,140,160],"thumb\u2019s":[124,133,148,154,180],"tip":[125],"with":[126,131],"its":[127],"rotation":[128],"axis":[129],"aligning":[130],"normal":[135],"allow":[137],"act":[142],"embodiment":[145],"functional":[149,181],"redundancy.":[150],"By":[151],"selecting":[152],"joints":[155,164],"including":[156],"active":[163],"chain,":[169],"system\u2019s":[172],"self-motion":[173,201],"(i.e.,":[174],"palm":[176],"pose)":[177],"redundancy":[182],"can":[183],"be":[184],"directly":[185],"without":[187],"using":[188],"null":[190],"projection.":[192],"This":[193],"provides":[194],"new":[196],"possibility":[197],"control":[199],"robot":[203],"manipulators.":[204],"Simulation":[205],"results":[206],"will":[207],"demonstrate":[208],"advantages":[210],"superb":[212],"performance":[213],"proposed":[216],"for":[218],"solving":[219],"problem":[221],"achieving":[226],"grasps":[228],"compared":[229],"classical":[232],"approaches":[233],"based":[234],"on":[235],"Damped":[237],"Least-Squares":[238],"method":[239],"[1]":[240],"in":[241],"terms":[242],"average":[245],"(96%":[248],"v.s.":[249],"12%).":[250]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}