{"id":"https://openalex.org/W2075615478","doi":"https://doi.org/10.1109/iros.2005.1545527","title":"Two-step grasping strategy for capturing a stick-shaped object","display_name":"Two-step grasping strategy for capturing a stick-shaped object","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2075615478","doi":"https://doi.org/10.1109/iros.2005.1545527","mag":"2075615478"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545527","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5091673216","display_name":"Mitsuru Higashimori","orcid":"https://orcid.org/0000-0002-8074-8371"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Higashimori","raw_affiliation_strings":["Department of Artificial Complex Systems Engineering, Graduate School of Engineering, Hiroshima University, Higashihiroshima, Japan","Dept. of Artificial Complex Syst. Eng., Hiroshima Univ., Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Artificial Complex Systems Engineering, Graduate School of Engineering, Hiroshima University, Higashihiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]},{"raw_affiliation_string":"Dept. of Artificial Complex Syst. Eng., Hiroshima Univ., Japan#TAB#","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057854171","display_name":"Maiko Kimura","orcid":null},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Kimura","raw_affiliation_strings":["Department of Artificial Complex Systems Engineering, Graduate School of Engineering, Hiroshima University, Higashihiroshima, Japan","Dept. of Artificial Complex Syst. Eng., Hiroshima Univ., Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Artificial Complex Systems Engineering, Graduate School of Engineering, Hiroshima University, Higashihiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]},{"raw_affiliation_string":"Dept. of Artificial Complex Syst. Eng., Hiroshima Univ., Japan#TAB#","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060719224","display_name":"Idaku Ishii","orcid":"https://orcid.org/0000-0002-7728-2363"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"I. Ishii","raw_affiliation_strings":["Department of Artificial Complex Systems Engineering, Graduate School of Engineering, Hiroshima University, Higashihiroshima, Japan","Dept. of Artificial Complex Syst. Eng., Hiroshima Univ., Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Artificial Complex Systems Engineering, Graduate School of Engineering, Hiroshima University, Higashihiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]},{"raw_affiliation_string":"Dept. of Artificial Complex Syst. Eng., Hiroshima Univ., Japan#TAB#","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101465803","display_name":"Makoto Kaneko","orcid":"https://orcid.org/0000-0002-4922-3761"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Kaneko","raw_affiliation_strings":["Department of Artificial Complex Systems Engineering, Graduate School of Engineering, Hiroshima University, Higashihiroshima, Japan","Dept. of Artificial Complex Syst. Eng., Hiroshima Univ., Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Artificial Complex Systems Engineering, Graduate School of Engineering, Hiroshima University, Higashihiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]},{"raw_affiliation_string":"Dept. of Artificial Complex Syst. Eng., Hiroshima Univ., Japan#TAB#","institution_ids":["https://openalex.org/I113306721"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I113306721"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"907","last_page":"912"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9987000226974487,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/position","display_name":"Position (finance)","score":0.7749676704406738},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7617720365524292},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6696203947067261},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6669632196426392},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6505312323570251},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6400781869888306},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5635457038879395},{"id":"https://openalex.org/keywords/translational-motion","display_name":"Translational motion","score":0.5265771746635437},{"id":"https://openalex.org/keywords/object-orientation","display_name":"Object-orientation","score":0.47738975286483765},{"id":"https://openalex.org/keywords/object-oriented-programming","display_name":"Object-oriented programming","score":0.17363440990447998},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1721751093864441},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1316276490688324},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12179583311080933},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12136179208755493}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7749676704406738},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7617720365524292},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6696203947067261},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6669632196426392},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6505312323570251},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6400781869888306},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5635457038879395},{"id":"https://openalex.org/C2988296624","wikidata":"https://www.wikidata.org/wiki/Q211459","display_name":"Translational motion","level":2,"score":0.5265771746635437},{"id":"https://openalex.org/C120968358","wikidata":"https://www.wikidata.org/wiki/Q2011845","display_name":"Object-orientation","level":3,"score":0.47738975286483765},{"id":"https://openalex.org/C73752529","wikidata":"https://www.wikidata.org/wiki/Q79872","display_name":"Object-oriented programming","level":2,"score":0.17363440990447998},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1721751093864441},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1316276490688324},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12179583311080933},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12136179208755493},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/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/iros.2005.1545527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545527","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":14,"referenced_works":["https://openalex.org/W8190007","https://openalex.org/W1486693662","https://openalex.org/W1664337282","https://openalex.org/W1972045335","https://openalex.org/W2095852913","https://openalex.org/W2104806486","https://openalex.org/W2109966442","https://openalex.org/W2144473145","https://openalex.org/W2144573888","https://openalex.org/W2161670079","https://openalex.org/W2164183936","https://openalex.org/W2324104108","https://openalex.org/W6628992658","https://openalex.org/W6636983219"],"related_works":["https://openalex.org/W4205448459","https://openalex.org/W1443935849","https://openalex.org/W2055707201","https://openalex.org/W2073846564","https://openalex.org/W2347745895","https://openalex.org/W2084029475","https://openalex.org/W2157278770","https://openalex.org/W639881615","https://openalex.org/W4242901948","https://openalex.org/W4206087077"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"2D":[3],"dynamic":[4],"preshaping":[5],"issue":[6],"for":[7,48],"a":[8],"stick-shaped":[9],"object":[10,52],"changing":[11],"both":[12],"position":[13],"and":[14,39],"orientation":[15],"with":[16],"respect":[17],"to":[18],"time.":[19],"We":[20,54],"propose":[21],"the":[22,30,42,51,56],"two-step":[23],"grasping":[24],"strategy":[25],"where":[26],"it":[27],"first":[28],"stops":[29,41],"rotational":[31],"motion":[32,44],"by":[33,46,59],"choosing":[34],"an":[35],"appropriate":[36],"finger":[37],"position,":[38],"then":[40],"translational":[43],"step":[45,47],"completely":[49],"making":[50],"stationary.":[53],"confirm":[55],"basic":[57],"idea":[58],"simulation.":[60]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}