{"id":"https://openalex.org/W2106333554","doi":"https://doi.org/10.1109/iros.2007.4398964","title":"Numerical analysis for optimal posture of circular object grasped with frictions","display_name":"Numerical analysis for optimal posture of circular object grasped with frictions","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2106333554","doi":"https://doi.org/10.1109/iros.2007.4398964","mag":"2106333554"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4398964","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4398964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5054591359","display_name":"Satoshi Ito","orcid":"https://orcid.org/0000-0003-2550-8153"},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Satoshi Ito","raw_affiliation_strings":["BMC Research Center, RIKEN, Nagoya, Japan","Faculty of Engineering, Gifu University, Gifu, Japan"],"affiliations":[{"raw_affiliation_string":"BMC Research Center, RIKEN, Nagoya, Japan","institution_ids":[]},{"raw_affiliation_string":"Faculty of Engineering, Gifu University, Gifu, Japan","institution_ids":["https://openalex.org/I42405503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072720920","display_name":"Yuuki Mizukoshi","orcid":null},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuuki Mizukoshi","raw_affiliation_strings":["Faculty of Engineering, Gifu University, Gifu, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Gifu University, Gifu, Japan","institution_ids":["https://openalex.org/I42405503"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005900648","display_name":"Minoru Sasaki","orcid":"https://orcid.org/0000-0001-7806-8492"},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Minoru Sasaki","raw_affiliation_strings":["Faculty of Engineering, Gifu University, Gifu, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Gifu University, Gifu, Japan","institution_ids":["https://openalex.org/I42405503"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5054591359"],"corresponding_institution_ids":["https://openalex.org/I42405503"],"apc_list":null,"apc_paid":null,"fwci":1.7418,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.87958819,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"13?14","issue":null,"first_page":"1545","last_page":"1550"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9979000091552734,"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/grasp","display_name":"GRASP","score":0.9631686806678772},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.8559988737106323},{"id":"https://openalex.org/keywords/midpoint","display_name":"Midpoint","score":0.5473565459251404},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5379441976547241},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5136827826499939},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4635915160179138},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.459104061126709},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.43533599376678467},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42879530787467957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3871046304702759},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31422048807144165},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.20501068234443665},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19272518157958984},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.18457981944084167}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9631686806678772},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.8559988737106323},{"id":"https://openalex.org/C34130140","wikidata":"https://www.wikidata.org/wiki/Q1645406","display_name":"Midpoint","level":2,"score":0.5473565459251404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5379441976547241},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5136827826499939},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4635915160179138},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.459104061126709},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.43533599376678467},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42879530787467957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3871046304702759},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31422048807144165},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.20501068234443665},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19272518157958984},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.18457981944084167},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4398964","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4398964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 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/W1496790689","https://openalex.org/W1969477826","https://openalex.org/W1978580730","https://openalex.org/W2039493915","https://openalex.org/W2046927513","https://openalex.org/W2064878003","https://openalex.org/W2098304071","https://openalex.org/W2098487928","https://openalex.org/W2101803681","https://openalex.org/W2111697351","https://openalex.org/W2122856691","https://openalex.org/W2140173255","https://openalex.org/W2140294374","https://openalex.org/W2145392820"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2657478029","https://openalex.org/W4248427955","https://openalex.org/W2626503888","https://openalex.org/W2037306763","https://openalex.org/W2080808138","https://openalex.org/W4387962997","https://openalex.org/W2129483190","https://openalex.org/W1926827207","https://openalex.org/W2133659289"],"abstract_inverted_index":{"When":[0],"grasping":[1,35],"an":[2,30,49],"object,":[3],"friction":[4,11,87],"forces":[5,12,47],"are":[6],"sometimes":[7],"utilized":[8],"effectively.":[9],"This":[10],"allows":[13],"us":[14],"to":[15,19,101,109],"manipulate":[16],"the":[17,33,41,45,53,59,63,66,73,78,86,102,110,124,137,146,150],"object":[18,26,54,79,135],"various":[20],"directions.":[21],"Regarding":[22],"such":[23],"a":[24,131,141],"grasped":[25],"posture,":[27,55],"we":[28,56,117,129],"reported":[29],"analysis":[31],"on":[32],"2Dspace":[34],"with":[36,112,126],"two":[37,69],"contact":[38,46,70],"points.":[39],"Selecting":[40],"square":[42],"sum":[43],"of":[44,52,68,75,77,106,133,149],"as":[48],"evaluation":[50],"function":[51],"concluded":[57],"that":[58],"optimal":[60,151],"posture":[61],"is":[62,89,98],"one":[64,111],"where":[65],"midpoint":[67],"points":[71],"and":[72,94,144],"center":[74],"mass":[76],"align":[80],"vertically.":[81],"In":[82,114],"this":[83,96,115,121],"analysis,":[84],"however,":[85],"condition":[88],"not":[90,108],"taken":[91],"into":[92,123],"account,":[93],"thus":[95],"result":[97,122],"applied":[99],"only":[100],"grasp":[103,125,132],"by":[104],"use":[105],"fixtures,":[107],"frictions.":[113,127],"paper,":[116],"aim":[118],"at":[119],"extending":[120],"Especially,":[128],"analyze":[130],"circular":[134],"in":[136,140],"2-D":[138],"space":[139],"numerical":[142],"manner,":[143],"discuss":[145],"physical":[147],"meaning":[148],"posture.":[152]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
