{"id":"https://openalex.org/W2909781517","doi":"https://doi.org/10.1109/iros.2018.8594380","title":"VARO-Fi: A Variable Orientable Gripper to Obtain In-Hand Manipulation","display_name":"VARO-Fi: A Variable Orientable Gripper to Obtain In-Hand Manipulation","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909781517","doi":"https://doi.org/10.1109/iros.2018.8594380","mag":"2909781517"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594380","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086900998","display_name":"Nahian Rahman","orcid":"https://orcid.org/0000-0002-5165-2821"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Nahian Rahman","raw_affiliation_strings":["Advanced Robotics Department of Istituto Italiano di Technologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department of Istituto Italiano di Technologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin Caldwell","raw_affiliation_strings":["Advanced Robotics Department of Istituto Italiano di Technologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department of Istituto Italiano di Technologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065930752","display_name":"Ferdinando Cannella","orcid":"https://orcid.org/0000-0001-7602-1850"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ferdinando Cannella","raw_affiliation_strings":["Advanced Robotics Department of Istituto Italiano di Technologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Department of Istituto Italiano di Technologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086900998"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.1839,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.53877024,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4568","last_page":"4575"},"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":0.9995999932289124,"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":0.9965999722480774,"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/payload","display_name":"Payload (computing)","score":0.7437844276428223},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.59954833984375},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5491941571235657},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5172960758209229},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4997248649597168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44170498847961426},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.43906304240226746},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2635292410850525},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07993009686470032},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06371310353279114},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.052462995052337646}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7437844276428223},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.59954833984375},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5491941571235657},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5172960758209229},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4997248649597168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44170498847961426},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.43906304240226746},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2635292410850525},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07993009686470032},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06371310353279114},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.052462995052337646},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594380","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1888892744","https://openalex.org/W1965961478","https://openalex.org/W1978580730","https://openalex.org/W1997560983","https://openalex.org/W1999375810","https://openalex.org/W2002826851","https://openalex.org/W2005824379","https://openalex.org/W2013467411","https://openalex.org/W2019165997","https://openalex.org/W2061343052","https://openalex.org/W2064878003","https://openalex.org/W2123951682","https://openalex.org/W2124194492","https://openalex.org/W2129889692","https://openalex.org/W2139972980","https://openalex.org/W2197856720","https://openalex.org/W2288692021","https://openalex.org/W2529120565","https://openalex.org/W2542710067","https://openalex.org/W2612144999","https://openalex.org/W2757492335","https://openalex.org/W2773933568","https://openalex.org/W3106359320","https://openalex.org/W6744435590"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W20648474","https://openalex.org/W2109516765","https://openalex.org/W4288094128","https://openalex.org/W2344396482"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,57,82,89],"novel":[4,127],"gripper":[5,55,62,128],"or":[6],"end-effector":[7],"named":[8],"VARO-fi":[9,31,69,95],"(VARiable":[10],"Orientable":[11],"fingers":[12],"with":[13,15,129],"translation),":[14],"the":[16,54,92,123,126,132,135],"aim":[17],"of":[18,33,36,59,68,94,125,134],"obtaining":[19],"human":[20],"like":[21],"prehensile":[22],"manoeuvre":[23],"such":[24],"as,":[25],"in-hand":[26,43],"manipulation.":[27],"The":[28,66],"4":[29],"fingered":[30],"consists":[32],"9":[34],"degrees":[35],"freedom":[37],"and":[38,73],"it":[39,97],"can":[40],"perform":[41],"several":[42],"manipulation":[44,102],"tasks":[45],"which":[46,108],"have":[47,76],"been":[48,71,77,110],"described":[49],"in":[50,91,119],"this":[51],"paper.":[52],"Moreover,":[53],"is":[56,86,98,116],"simplification":[58],"previously":[60],"proposed":[61],"platform":[63],"called":[64],"Dexclar.":[65],"derivation":[67],"has":[70,109],"presented":[72],"its":[74],"capabilities":[75],"demonstrated":[78],"by":[79,112],"experiments.":[80,113],"Although":[81],"generic":[83],"convex":[84],"payload":[85],"considered":[87],"as":[88],"primitive":[90],"design":[93],"however,":[96],"capable":[99],"to":[100,121,131],"address":[101],"for":[103],"other":[104],"regular":[105],"shaped":[106],"payloads,":[107],"proven":[111],"A":[114],"comparison":[115],"also":[117],"illustrated":[118],"order":[120],"underline":[122],"strength":[124],"respect":[130],"state":[133],"art.":[136]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}