{"id":"https://openalex.org/W2113643677","doi":"https://doi.org/10.1109/iros.2008.4650895","title":"3D multifingered caging: Basic formulation and planning","display_name":"3D multifingered caging: Basic formulation and planning","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2113643677","doi":"https://doi.org/10.1109/iros.2008.4650895","mag":"2113643677"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650895","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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/A5078563573","display_name":"Satoshi Makita","orcid":"https://orcid.org/0000-0003-4658-8471"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"S. Makita","raw_affiliation_strings":["Maeda Laboratory, Department of Mechanical Engineering, Division of Systems Integration, Graduate School of Engineering, Faculty of Engineering, Yokohama National University, Yokohama, Japan","Dept. of Mech. Eng., Yokohama Nat. Univ., Yokohama"],"affiliations":[{"raw_affiliation_string":"Maeda Laboratory, Department of Mechanical Engineering, Division of Systems Integration, Graduate School of Engineering, Faculty of Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Yokohama Nat. Univ., Yokohama","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069838421","display_name":"Yusuke Maeda","orcid":"https://orcid.org/0000-0002-9654-6117"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Maeda","raw_affiliation_strings":["Department of Systems Design, Division of Systems, Yokohama National University, Japan","Dept. of Systems Design, Div. of Systems Research, Faculty of Engineering, Yokohama National University, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Design, Division of Systems, Yokohama National University, Japan","institution_ids":["https://openalex.org/I180203408"]},{"raw_affiliation_string":"Dept. of Systems Design, Div. of Systems Research, Faculty of Engineering, Yokohama National University, Japan","institution_ids":["https://openalex.org/I180203408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5078563573"],"corresponding_institution_ids":["https://openalex.org/I180203408"],"apc_list":null,"apc_paid":null,"fwci":4.935,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.94852894,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2697","last_page":"2702"},"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":0.9980999827384949,"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":0.9968000054359436,"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/robot","display_name":"Robot","score":0.683256208896637},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6487593650817871},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5135760307312012},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.5132677555084229},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4716055989265442},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4498976767063141},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4488709568977356},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.43230023980140686},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36526718735694885},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25568562746047974}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.683256208896637},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6487593650817871},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5135760307312012},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.5132677555084229},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4716055989265442},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4498976767063141},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4488709568977356},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.43230023980140686},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36526718735694885},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25568562746047974},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4650895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650895","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.75}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1675998861","https://openalex.org/W2029909232","https://openalex.org/W2136981968","https://openalex.org/W2162912282","https://openalex.org/W2168098919"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2385118824","https://openalex.org/W2359476137","https://openalex.org/W2737719445","https://openalex.org/W2362165903","https://openalex.org/W3171631314","https://openalex.org/W4239098401","https://openalex.org/W2674584172","https://openalex.org/W2575294667","https://openalex.org/W2593890329"],"abstract_inverted_index":{"In":[0,40],"this":[1],"paper,":[2],"three-dimensional":[3],"caging":[4,89,103],"by":[5],"a":[6,16,61,93,99],"multifingered":[7,10,42,81],"hand":[8,63,101],"(3D":[9],"caging)":[11],"is":[12,15,56],"studied.":[13],"Caging":[14],"method":[17,94],"of":[18,36,67,79,98],"object":[19,27,72],"constraining":[20],"in":[21],"which":[22],"robot":[23,38,45,62,100],"bodies":[24],"surround":[25],"an":[26,71],"and":[28,50,53,91],"make":[29],"it":[30],"inescapable":[31],"from":[32],"the":[33,37,105],"ldquocagerdquo":[34],"composed":[35],"bodies.":[39],"3D":[41,80],"caging,":[43],"position-controlled":[44],"hands":[46],"can":[47,69],"constrain":[48,70],"objects":[49],"transport":[51],"them,":[52],"force":[54],"control":[55],"not":[57],"necessary.":[58],"Furthermore,":[59],"even":[60],"with":[64,104],"low":[65],"degrees":[66],"freedom":[68],"to":[73,95],"manipulate.":[74],"We":[75],"show":[76],"some":[77],"examples":[78],"caging.":[82],"Then,":[83],"we":[84],"derive":[85],"sufficient":[86,106],"conditions":[87],"for":[88,102],"objects,":[90],"propose":[92],"plan":[96],"configurations":[97],"conditions.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}