{"id":"https://openalex.org/W2166491626","doi":"https://doi.org/10.1109/iros.2003.1249726","title":"Regrasp planning for a 5-fingered hand manipulating a polyhedron","display_name":"Regrasp planning for a 5-fingered hand manipulating a polyhedron","publication_year":2004,"publication_date":"2004-04-23","ids":{"openalex":"https://openalex.org/W2166491626","doi":"https://doi.org/10.1109/iros.2003.1249726","mag":"2166491626"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1249726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5027032571","display_name":"Thanathorn Phoka","orcid":null},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":true,"raw_author_name":"T. Phoka","raw_affiliation_strings":["Department of Computer Engineering, Chulalongkom University, Bangkok, Thailand"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Chulalongkom University, Bangkok, Thailand","institution_ids":["https://openalex.org/I158708052"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010048726","display_name":"Attawith Sudsang","orcid":"https://orcid.org/0000-0002-1667-7193"},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"A. Sudsang","raw_affiliation_strings":["Department of Computer Engineering, Chulalongkom University, Bangkok, Thailand"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Chulalongkom University, Bangkok, Thailand","institution_ids":["https://openalex.org/I158708052"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027032571"],"corresponding_institution_ids":["https://openalex.org/I158708052"],"apc_list":null,"apc_paid":null,"fwci":3.4769,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.9255377,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"3","issue":null,"first_page":"3674","last_page":"3679"},"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":0.9977999925613403,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/polyhedron","display_name":"Polyhedron","score":0.901255190372467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6209824085235596},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.14490902423858643},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12403765320777893}],"concepts":[{"id":"https://openalex.org/C54829058","wikidata":"https://www.wikidata.org/wiki/Q172937","display_name":"Polyhedron","level":2,"score":0.901255190372467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6209824085235596},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.14490902423858643},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12403765320777893}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1249726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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":14,"referenced_works":["https://openalex.org/W583749824","https://openalex.org/W1820657498","https://openalex.org/W1941957191","https://openalex.org/W2048517616","https://openalex.org/W2093801937","https://openalex.org/W2106281046","https://openalex.org/W2112036576","https://openalex.org/W2131141154","https://openalex.org/W2139122270","https://openalex.org/W2149906774","https://openalex.org/W2150316725","https://openalex.org/W2165714338","https://openalex.org/W4214494916","https://openalex.org/W6617023286"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2916043681","https://openalex.org/W2896131632","https://openalex.org/W2522231841","https://openalex.org/W2391438543","https://openalex.org/W2008231869","https://openalex.org/W323119424","https://openalex.org/W2551069560","https://openalex.org/W1972258194","https://openalex.org/W2997473813"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,31,47,50],"problem":[4],"of":[5,26,46],"a":[6,10,24,43,66,76],"5-fingered":[7],"hand":[8,32],"manipulating":[9],"polyhedron.":[11],"In":[12],"particular,":[13],"assuming":[14],"frictional":[15],"point":[16],"contacts,":[17],"we":[18],"present":[19],"an":[20],"approach":[21,55,82],"for":[22],"computing":[23],"sequence":[25],"finger":[27],"repositioning":[28],"that":[29],"allows":[30],"to":[33,39,58,63,72,75],"switch":[34,59],"from":[35,60],"one":[36,61],"grasping":[37],"configuration":[38],"another":[40,64],"while":[41],"maintaining":[42],"force-closure":[44],"grasp":[45,62],"polyhedron":[48],"during":[49],"entire":[51],"process.":[52],"The":[53,80],"proposed":[54,81],"captures":[56],"ability":[57],"in":[65],"graph":[67,77],"structure,":[68],"allowing":[69],"regrasp":[70],"planning":[71],"be":[73],"reduced":[74],"search":[78],"problem.":[79],"is":[83],"implemented":[84],"and":[85],"preliminary":[86],"results":[87],"are":[88],"presented.":[89]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
