{"id":"https://openalex.org/W2208386634","doi":"https://doi.org/10.1109/iros.2015.7354180","title":"On task-decoupling by robust eigenstructure assignment for dexterous manipulation","display_name":"On task-decoupling by robust eigenstructure assignment for dexterous manipulation","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2208386634","doi":"https://doi.org/10.1109/iros.2015.7354180","mag":"2208386634"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354180","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354180","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-centralesupelec.archives-ouvertes.fr/hal-01259275","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082048808","display_name":"Alex Caldas","orcid":"https://orcid.org/0000-0001-9356-4881"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Caldas","raw_affiliation_strings":["Interactive Robotic Laboratory of CEA-LIST, Interactive Simulation Laboratory of CEA-LIST, Gif sur Yvette","LIST (CEA) - Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies (DRT/LIST\r\nNano-INNOV\r\nAvenue de la Vauve\r\n91120 Palaiseau - France)","L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Robotic Laboratory of CEA-LIST, Interactive Simulation Laboratory of CEA-LIST, Gif sur Yvette","institution_ids":["https://openalex.org/I4210085861"]},{"raw_affiliation_string":"LIST (CEA) - Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies (DRT/LIST\r\nNano-INNOV\r\nAvenue de la Vauve\r\n91120 Palaiseau - France)","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"]},{"raw_affiliation_string":"L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)","institution_ids":["https://openalex.org/I4210097418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109937135","display_name":"A. Micaelli","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Micaelli","raw_affiliation_strings":["Interactive Robotic Laboratory of CEA-LIST, Interactive Simulation Laboratory of CEA-LIST, Gif sur Yvette","LIST (CEA) - Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies (DRT/LIST\r\nNano-INNOV\r\nAvenue de la Vauve\r\n91120 Palaiseau - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Robotic Laboratory of CEA-LIST, Interactive Simulation Laboratory of CEA-LIST, Gif sur Yvette","institution_ids":["https://openalex.org/I4210085861"]},{"raw_affiliation_string":"LIST (CEA) - Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies (DRT/LIST\r\nNano-INNOV\r\nAvenue de la Vauve\r\n91120 Palaiseau - France)","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109874922","display_name":"Mathieu Grossard","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Grossard","raw_affiliation_strings":["Interactive Robotic Laboratory of CEA-LIST, Interactive Simulation Laboratory of CEA-LIST, Gif sur Yvette","LIST (CEA) - Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies (DRT/LIST\r\nNano-INNOV\r\nAvenue de la Vauve\r\n91120 Palaiseau - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Robotic Laboratory of CEA-LIST, Interactive Simulation Laboratory of CEA-LIST, Gif sur Yvette","institution_ids":["https://openalex.org/I4210085861"]},{"raw_affiliation_string":"LIST (CEA) - Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies (DRT/LIST\r\nNano-INNOV\r\nAvenue de la Vauve\r\n91120 Palaiseau - France)","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018927741","display_name":"Maria Makarov","orcid":"https://orcid.org/0000-0002-6954-8993"},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Makarov","raw_affiliation_strings":["Control Departement, Laboratoire des Signaux et Syst\u00e8mes (UMR 8506) CentraleSupelec - CNRS - Universite Paris-Sud, Gif-sur-Yvette, France","L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Departement, Laboratoire des Signaux et Syst\u00e8mes (UMR 8506) CentraleSupelec - CNRS - Universite Paris-Sud, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I4210107720"]},{"raw_affiliation_string":"L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)","institution_ids":["https://openalex.org/I4210097418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066774503","display_name":"Pedro Rodr\u00edguez-Ayerbe","orcid":"https://orcid.org/0000-0001-7452-4155"},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Rodriguez-Ayerbe","raw_affiliation_strings":["Control Departement, Laboratoire des Signaux et Syst\u00e8mes (UMR 8506) CentraleSupelec - CNRS - Universite Paris-Sud, Gif-sur-Yvette, France","L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Departement, Laboratoire des Signaux et Syst\u00e8mes (UMR 8506) CentraleSupelec - CNRS - Universite Paris-Sud, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I4210107720"]},{"raw_affiliation_string":"L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)","institution_ids":["https://openalex.org/I4210097418"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107640572","display_name":"Didier Dumur","orcid":null},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"D. Dumur","raw_affiliation_strings":["Control Departement, Laboratoire des Signaux et Syst\u00e8mes (UMR 8506) CentraleSupelec - CNRS - Universite Paris-Sud, Gif-sur-Yvette, France","L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Departement, Laboratoire des Signaux et Syst\u00e8mes (UMR 8506) CentraleSupelec - CNRS - Universite Paris-Sud, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I4210107720"]},{"raw_affiliation_string":"L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)","institution_ids":["https://openalex.org/I4210097418"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":"18","issue":null,"first_page":"5654","last_page":"5661"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9948999881744385,"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"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.8169378042221069},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6758013963699341},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6090326309204102},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6084097623825073},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.5243523120880127},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5000255107879639},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.48682278394699097},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4331203103065491},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.43206876516342163},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40526992082595825},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29137393832206726},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28666335344314575},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2144182026386261},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18377739191055298}],"concepts":[{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.8169378042221069},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6758013963699341},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6090326309204102},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6084097623825073},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.5243523120880127},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5000255107879639},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.48682278394699097},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4331203103065491},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.43206876516342163},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40526992082595825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29137393832206726},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28666335344314575},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2144182026386261},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18377739191055298},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2015.7354180","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354180","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01259275v1","is_oa":true,"landing_page_url":"https://hal-centralesupelec.archives-ouvertes.fr/hal-01259275","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:HAL:hal-01259275v2","is_oa":true,"landing_page_url":"https://centralesupelec.hal.science/hal-01259275","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS 2015)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:HAL:hal-01259913v1","is_oa":true,"landing_page_url":"https://hal-centralesupelec.archives-ouvertes.fr/hal-01259913","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS 2015)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01259275v1","is_oa":true,"landing_page_url":"https://hal-centralesupelec.archives-ouvertes.fr/hal-01259275","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W92232912","https://openalex.org/W1547135986","https://openalex.org/W1564897360","https://openalex.org/W1581836345","https://openalex.org/W1967702609","https://openalex.org/W1970148674","https://openalex.org/W1980440818","https://openalex.org/W1983995860","https://openalex.org/W1995863462","https://openalex.org/W2000992184","https://openalex.org/W2072749588","https://openalex.org/W2076215121","https://openalex.org/W2093847731","https://openalex.org/W2112036576","https://openalex.org/W2115659120","https://openalex.org/W2119924154","https://openalex.org/W2126701792","https://openalex.org/W2133296014","https://openalex.org/W2140070545","https://openalex.org/W2154006563","https://openalex.org/W2167117957","https://openalex.org/W2172158418","https://openalex.org/W2536620281"],"related_works":["https://openalex.org/W4313561376","https://openalex.org/W3103825105","https://openalex.org/W3027880158","https://openalex.org/W1617565119","https://openalex.org/W160381218","https://openalex.org/W2512958550","https://openalex.org/W2004102934","https://openalex.org/W4366455350","https://openalex.org/W2329266651","https://openalex.org/W2031388895"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14,41,59],"new":[4,60],"control":[5,21,43,54,151,175],"scheme":[6,55],"for":[7],"dexterous":[8],"manipulation":[9],"of":[10,19,30,67,74,82,110,122,149,156,173],"an":[11,146],"object":[12,29,124],"by":[13,27],"multifingered":[15],"hand.":[16,115],"The":[17,53,116],"aim":[18],"this":[20],"is":[22,56,92,145,162],"to":[23,45,128,132,139],"ensure":[24],"the":[25,28,35,46,50,65,68,72,75,79,83,87,108,113,120,129,134,142,150,154,160,170,174,178,182],"tracking":[26],"specific":[31],"trajectories":[32],"depending":[33],"on":[34,58,107,141,159,177],"task.":[36],"More":[37],"specifically,":[38],"we":[39],"consider":[40],"decoupling":[42,161,171],"according":[44,127],"motion":[47],"directions":[48],"in":[49,112,181],"task":[51,95],"space.":[52,184],"based":[57,106],"eigenstructure":[61],"assignment":[62],"method,":[63],"where":[64],"placement":[66,81],"closed-loop":[69],"eigenvalues":[70],"ensures":[71,86],"stability":[73],"system":[76,88,179],"hand/object,":[77],"and":[78,97,105,131,153,168],"strict":[80],"object-level":[84],"eigenvectors":[85],"decoupling.":[89],"A":[90],"parallel":[91],"made":[93],"between":[94],"specifications":[96],"synergies.":[98,136],"Current":[99],"synergy":[100],"controllers":[101],"are":[102,166],"often":[103],"bio-inspired":[104],"analysis":[109],"synergies":[111],"human":[114],"proposed":[117],"algorithm":[118],"allows":[119],"specification":[121],"precise":[123],"level":[125],"performance":[126],"task,":[130],"find":[133],"related":[135],"Moreover,":[137],"robustness":[138],"uncertainties":[140,158],"contact":[143],"point":[144],"additional":[147],"objective":[148],"law,":[152],"effect":[155,172],"these":[157],"investigated.":[163],"Simulation":[164],"results":[165],"presented":[167],"illustrate":[169],"law":[176],"hand/object":[180],"2D-cartesian":[183]},"counts_by_year":[{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}