{"id":"https://openalex.org/W2909076833","doi":"https://doi.org/10.1109/iros.2018.8593567","title":"The KIT Swiss Knife Gripper for Disassembly Tasks: A Multi-Functional Gripper for Bimanual Manipulation with a Single Arm","display_name":"The KIT Swiss Knife Gripper for Disassembly Tasks: A Multi-Functional Gripper for Bimanual Manipulation with a Single Arm","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909076833","doi":"https://doi.org/10.1109/iros.2018.8593567","mag":"2909076833"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593567","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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":"https://hdl.handle.net/2117/129997","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066456591","display_name":"J\u00falia Borr\u00e0s","orcid":"https://orcid.org/0000-0002-1662-2037"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Julia Borras","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067395208","display_name":"Raphael Heudorfer","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Raphael Heudorfer","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004610673","display_name":"Samuel Rader","orcid":"https://orcid.org/0000-0002-0353-1451"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Samuel Rader","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107657775","display_name":"Peter Kaiser","orcid":"https://orcid.org/0000-0001-7677-1846"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Peter Kaiser","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tamim Asfour","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066456591"],"corresponding_institution_ids":["https://openalex.org/I4210093282"],"apc_list":null,"apc_paid":null,"fwci":0.7482,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.74278658,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4590","last_page":"4597"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9836999773979187,"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/grippers","display_name":"Grippers","score":0.9098082780838013},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8946809768676758},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6596499085426331},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6350831985473633},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6002418994903564},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5790194272994995},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5519310832023621},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4435935914516449},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.43287795782089233},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4209217429161072},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.41147828102111816},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40150904655456543},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3799356520175934},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3524283468723297},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35227903723716736},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15887784957885742},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.15350297093391418},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.0744987428188324}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9098082780838013},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8946809768676758},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6596499085426331},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6350831985473633},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6002418994903564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5790194272994995},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5519310832023621},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4435935914516449},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.43287795782089233},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4209217429161072},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.41147828102111816},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40150904655456543},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3799356520175934},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3524283468723297},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35227903723716736},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15887784957885742},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.15350297093391418},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0744987428188324},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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":4,"locations":[{"id":"doi:10.1109/iros.2018.8593567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593567","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:upcommons.upc.edu:2117/129997","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/129997","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:digital.csic.es:10261/179448","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/179448","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"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":"","raw_type":"Comunicaci\u00f3n de congreso"},{"id":"pmh:oai:zenodo.org:3523140","is_oa":true,"landing_page_url":"https://doi.org/10.1109/IROS.2018.8593567","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/129997","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/129997","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.46000000834465027,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W87790964","https://openalex.org/W414661853","https://openalex.org/W1510186039","https://openalex.org/W1830018636","https://openalex.org/W1886228546","https://openalex.org/W1975324826","https://openalex.org/W1989116559","https://openalex.org/W1994015100","https://openalex.org/W2003329174","https://openalex.org/W2011251199","https://openalex.org/W2019366029","https://openalex.org/W2025939589","https://openalex.org/W2029744358","https://openalex.org/W2062691475","https://openalex.org/W2069213768","https://openalex.org/W2080607011","https://openalex.org/W2082804138","https://openalex.org/W2106618606","https://openalex.org/W2147168033","https://openalex.org/W2161486070","https://openalex.org/W2162348494","https://openalex.org/W2171851689","https://openalex.org/W2296446406","https://openalex.org/W2432137114","https://openalex.org/W2526622367","https://openalex.org/W6603481016","https://openalex.org/W6684887908"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259","https://openalex.org/W2088476797","https://openalex.org/W2102971868","https://openalex.org/W2625202073","https://openalex.org/W2168487931","https://openalex.org/W2889998688"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"the":[3,11,24,31,36,43,52,55,71,95,121],"concept":[4,91],"of":[5,13,45,57,70,100],"a":[6,64,125],"robotic":[7,60,65,75],"gripper":[8,53],"designed":[9,77],"for":[10,78,98,108,124],"disassembly":[12,99],"electromechanical":[14,101],"devices":[15,102],"that":[16],"comprises":[17],"several":[18],"innovative":[19],"ideas.":[20],"Novel":[21],"concepts":[22],"include":[23],"ability":[25,37],"to":[26,33,38],"interchange":[27],"built-in":[28],"tools":[29],"without":[30],"need":[32],"grasp":[34],"them,":[35],"reposition":[39],"grasped":[40],"objects":[41],"in-hand,":[42],"capability":[44],"performing":[46],"classic":[47,58],"dual":[48],"arm":[49],"manipulation":[50,81,113],"within":[51,63],"and":[54,74,82,86,103,114],"utilization":[56],"industrial":[59],"arms":[61],"kinematics":[62],"gripper.":[66],"We":[67,118],"analyze":[68],"state":[69],"art":[72],"grippers":[73],"hands":[76],"dexterous":[79],"in-hand":[80,112],"extract":[83],"common":[84],"characteristics":[85],"weak":[87],"points.":[88],"The":[89],"presented":[90],"is":[92,105],"obtained":[93],"from":[94],"task":[96],"requirements":[97],"it":[104],"then":[106],"evaluated":[107],"general":[109],"purpose":[110],"grasping,":[111],"operations":[115],"with":[116],"tools.":[117],"further":[119],"present":[120],"CAD":[122],"design":[123],"first":[126],"prototype.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}