{"id":"https://openalex.org/W2775488915","doi":"https://doi.org/10.1109/iros.2017.8206010","title":"Dexterous manipulation with compliant grasps and external contacts","display_name":"Dexterous manipulation with compliant grasps and external contacts","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2775488915","doi":"https://doi.org/10.1109/iros.2017.8206010","mag":"2775488915"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-215234","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101900616","display_name":"Diogo Almeida","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Diogo Almeida","raw_affiliation_strings":["Robotics, Perception and Learning Lab., Royal Institute of Technology KTH, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Robotics, Perception and Learning Lab., Royal Institute of Technology KTH, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066684950","display_name":"Yiannis Karayiannidis","orcid":"https://orcid.org/0000-0001-5129-342X"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yiannis Karayiannidis","raw_affiliation_strings":["Dept. of Signals and Systems, Chalmers University of Technology, Gothenburg, Sweden","Robotics, Perception and Learning Lab., Royal Institute of Technology KTH, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Dept. of Signals and Systems, Chalmers University of Technology, Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Robotics, Perception and Learning Lab., Royal Institute of Technology KTH, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101900616"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.6035,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.71119006,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"107","issue":null,"first_page":"1913","last_page":"1920"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.991599977016449,"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":0.9709817171096802},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7523714303970337},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6412075757980347},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5985292196273804},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5755584239959717},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5745187997817993},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5412376523017883},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5211148858070374},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4993002414703369},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4687986969947815},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46468472480773926},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.4637179374694824},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.4253219962120056},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34194082021713257},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3210514187812805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2724175453186035},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1828283667564392},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16101738810539246},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13757586479187012},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12346169352531433},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08522534370422363}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9709817171096802},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7523714303970337},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6412075757980347},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5985292196273804},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5755584239959717},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5745187997817993},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5412376523017883},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5211148858070374},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4993002414703369},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4687986969947815},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46468472480773926},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.4637179374694824},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.4253219962120056},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34194082021713257},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3210514187812805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2724175453186035},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1828283667564392},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16101738810539246},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13757586479187012},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12346169352531433},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08522534370422363},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2017.8206010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:kth-215234","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-215234","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":null,"raw_type":"text"},{"id":"pmh:oai:research.chalmers.se:501668","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/36c138b5-fd7a-482f-a656-09e96e3064c6","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-215234","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-215234","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1198461769","https://openalex.org/W1606689539","https://openalex.org/W1638097848","https://openalex.org/W1794703952","https://openalex.org/W1973219440","https://openalex.org/W1988558268","https://openalex.org/W1994988311","https://openalex.org/W2007924815","https://openalex.org/W2011301426","https://openalex.org/W2013467411","https://openalex.org/W2032745455","https://openalex.org/W2044127092","https://openalex.org/W2052863493","https://openalex.org/W2059234421","https://openalex.org/W2112036576","https://openalex.org/W2114396743","https://openalex.org/W2118262422","https://openalex.org/W2123931593","https://openalex.org/W2125188427","https://openalex.org/W2126701792","https://openalex.org/W2127055892","https://openalex.org/W2150270730","https://openalex.org/W2169259862","https://openalex.org/W2202088841","https://openalex.org/W2213320290","https://openalex.org/W2408464251","https://openalex.org/W2409849132","https://openalex.org/W2485899942"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2625202073","https://openalex.org/W2088476797","https://openalex.org/W429889454","https://openalex.org/W3003943238","https://openalex.org/W4312362134","https://openalex.org/W2007709467","https://openalex.org/W1755628009","https://openalex.org/W2013947590"],"abstract_inverted_index":{"We":[0,48],"propose":[1],"a":[2,22,103,106,137,141],"method":[3,83,117],"that":[4,50],"allows":[5],"for":[6,37],"dexterous":[7],"manipulation":[8],"of":[9,28,54,65,86,95,97,102],"an":[10,16],"object":[11,30,67,88,131],"by":[12,110],"exploiting":[13],"contact":[14,39,104],"with":[15,68,105,128],"external":[17,46],"surface.":[18,47,108],"The":[19,82,122],"technique":[20],"requires":[21],"compliant":[23],"grasp,":[24],"enabling":[25],"the":[26,29,32,45,63,66,71,74,87,93,100,112,116,145],"motion":[27],"in":[31],"robot":[33],"hand":[34],"while":[35],"allowing":[36],"significant":[38],"forces":[40],"to":[41,59,70],"be":[42],"present":[43],"on":[44,92,130],"show":[49],"under":[51],"this":[52],"type":[53,96],"grasp":[55,98,114],"it":[56],"is":[57,84,124],"possible":[58],"estimate":[60],"and":[61,79,99,126,134],"control":[62,78],"pose":[64,132],"respect":[69],"surface,":[72,139],"leveraging":[73],"trade-off":[75],"between":[76],"force":[77],"manipulative":[80],"dexterity.":[81],"independent":[85],"geometry,":[89],"relying":[90],"only":[91],"assumptions":[94],"existence":[101],"known":[107],"Furthermore,":[109],"adapting":[111],"estimated":[113],"compliance,":[115],"can":[118],"handle":[119],"unmodelled":[120],"effects.":[121],"approach":[123],"demonstrated":[125],"evaluated":[127],"experiments":[129],"regulation":[133],"pivoting":[135],"against":[136],"rigid":[138],"where":[140],"mechanical":[142],"spring":[143],"provides":[144],"required":[146],"compliance.":[147]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2017-12-22T00:00:00"}
