{"id":"https://openalex.org/W2096541063","doi":"https://doi.org/10.1109/iros.2007.4399189","title":"Finger gaits planning for multifingered manipulation","display_name":"Finger gaits planning for multifingered manipulation","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2096541063","doi":"https://doi.org/10.1109/iros.2007.4399189","mag":"2096541063"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399189","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":"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/A5103472911","display_name":"Jijie Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jijie Xu","raw_affiliation_strings":["Department of Electronics and Computer Engineering, Hong Kong University of Science and Technology, China","Hong Kong Univ. of Science and Technology, Kowloon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Hong Kong University of Science and Technology, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]},{"raw_affiliation_string":"Hong Kong Univ. of Science and Technology, Kowloon","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111931792","display_name":"T. John Koo","orcid":null},"institutions":[{"id":"https://openalex.org/I32574673","display_name":"Shantou University","ror":"https://ror.org/01a099706","country_code":"CN","type":"education","lineage":["https://openalex.org/I32574673"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"T. John Koo","raw_affiliation_strings":["College of Engineering, Shantou University, Guang Dong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Shantou University, Guang Dong, China","institution_ids":["https://openalex.org/I32574673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100784553","display_name":"Zexiang Li","orcid":"https://orcid.org/0000-0002-7920-6436"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zexiang Li","raw_affiliation_strings":["Department of Electronics and Computer Engineering, Hong Kong University of Science and Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Hong Kong University of Science and Technology, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7164,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.81419657,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2932","last_page":"2937"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9970999956130981,"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/grasp","display_name":"GRASP","score":0.7169849872589111},{"id":"https://openalex.org/keywords/automaton","display_name":"Automaton","score":0.6920403242111206},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6515454053878784},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6032066345214844},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.600749135017395},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5981059074401855},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.44833970069885254},{"id":"https://openalex.org/keywords/discrete-space","display_name":"Discrete space","score":0.4105289578437805},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39283737540245056},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37954503297805786},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3695119321346283},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3418450951576233},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3204384446144104},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2260533571243286},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21805733442306519},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11471015214920044}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7169849872589111},{"id":"https://openalex.org/C112505250","wikidata":"https://www.wikidata.org/wiki/Q787116","display_name":"Automaton","level":2,"score":0.6920403242111206},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6515454053878784},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6032066345214844},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.600749135017395},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5981059074401855},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.44833970069885254},{"id":"https://openalex.org/C153782549","wikidata":"https://www.wikidata.org/wiki/Q175116","display_name":"Discrete space","level":2,"score":0.4105289578437805},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39283737540245056},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37954503297805786},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3695119321346283},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3418450951576233},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3204384446144104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2260533571243286},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21805733442306519},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11471015214920044},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2007.4399189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399189","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"},{"id":"pmh:oai:hub.hku.hk:10722/188712","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/188712","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference_Paper"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-19155","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-19155","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1830083427","https://openalex.org/W2071852710","https://openalex.org/W2105059122","https://openalex.org/W2106281046","https://openalex.org/W2120390368","https://openalex.org/W2120702530","https://openalex.org/W2127705885","https://openalex.org/W2128990851","https://openalex.org/W2132476906","https://openalex.org/W2139122270","https://openalex.org/W2139622484","https://openalex.org/W2156351875","https://openalex.org/W2157835908","https://openalex.org/W2625197614"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W4387947522"],"abstract_inverted_index":{"A":[0],"robotic":[1],"hand":[2],"may":[3],"change":[4],"its":[5,12,61],"grasp":[6],"status":[7],"and":[8,80,90],"relocate":[9],"some":[10],"of":[11,48,60,67,83,118],"fingers":[13],"in":[14],"order":[15],"to":[16,40,106],"perform":[17],"a":[18,23,27,33,68,74,108],"large":[19],"scale":[20],"manipulation.":[21],"Such":[22],"strategy":[24],"is":[25,38,57,71,104],"called":[26],"finger":[28,43,52,55,69,110,121],"gait.":[29],"In":[30],"this":[31],"paper,":[32],"randomized":[34],"manipulation":[35],"planning":[36,45],"algorithm":[37],"proposed":[39,105,120],"solving":[41],"the":[42,49,64,78,84,87,96,116,119],"gait":[44,122],"problem.":[46],"One":[47],"most":[50],"used":[51],"gaiting":[53],"primitives,":[54],"substitution,":[56],"introduced.":[58],"Because":[59],"discrete-continuous":[62],"characteristics,":[63],"kinematics":[65],"model":[66],"substitution":[70],"formulated":[72],"into":[73],"hybrid":[75],"automaton.":[76],"Considering":[77],"discrete":[79,88],"continuous":[81,91],"topology":[82],"automaton,":[85],"both":[86],"metric":[89,92],"are":[93],"defined":[94],"on":[95],"state":[97],"space.":[98],"An":[99],"improved":[100],"RRT":[101],"based":[102],"planner":[103],"find":[107],"feasible":[109],"substitution.":[111],"Finally,":[112],"simulation":[113],"results":[114],"verify":[115],"validity":[117],"planner.":[123]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
