{"id":"https://openalex.org/W3132429298","doi":"https://doi.org/10.1109/iros45743.2020.9340953","title":"Design and Control of Roller Grasper V2 for In-Hand Manipulation","display_name":"Design and Control of Roller Grasper V2 for In-Hand Manipulation","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3132429298","doi":"https://doi.org/10.1109/iros45743.2020.9340953","mag":"3132429298"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340953","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5046643862","display_name":"Shenli Yuan","orcid":"https://orcid.org/0000-0001-8839-6967"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shenli Yuan","raw_affiliation_strings":["Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100566831","display_name":"Lin Shao","orcid":"https://orcid.org/0000-0002-3412-5755"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lin Shao","raw_affiliation_strings":["Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059075924","display_name":"Connor L. Yako","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Connor L. Yako","raw_affiliation_strings":["Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110660829","display_name":"Alex Gruebele","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Gruebele","raw_affiliation_strings":["Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110822793","display_name":"J. Kenneth Salisbury","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Kenneth Salisbury","raw_affiliation_strings":["Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":10.7177,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.99402431,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"9151","last_page":"9158"},"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":0.9983999729156494,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.879797101020813},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6436244249343872},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6224642395973206},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6216355562210083},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5536594390869141},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5238144993782043},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47238588333129883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4722694158554077},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4667772352695465},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4568328559398651},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.44817838072776794},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44438016414642334},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41845181584358215},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3835138976573944},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1092364490032196},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08994865417480469},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08405578136444092}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.879797101020813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6436244249343872},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6224642395973206},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6216355562210083},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5536594390869141},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5238144993782043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47238588333129883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4722694158554077},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4667772352695465},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4568328559398651},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.44817838072776794},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44438016414642334},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41845181584358215},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3835138976573944},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1092364490032196},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08994865417480469},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08405578136444092},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9340953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340953","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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","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":40,"referenced_works":["https://openalex.org/W1198461769","https://openalex.org/W1931877416","https://openalex.org/W1969583232","https://openalex.org/W1971666595","https://openalex.org/W1996630649","https://openalex.org/W2013467411","https://openalex.org/W2016959837","https://openalex.org/W2019366029","https://openalex.org/W2038220101","https://openalex.org/W2072288830","https://openalex.org/W2081203294","https://openalex.org/W2139086916","https://openalex.org/W2142682608","https://openalex.org/W2155337985","https://openalex.org/W2160686985","https://openalex.org/W2161395589","https://openalex.org/W2167224731","https://openalex.org/W2210408922","https://openalex.org/W2213320290","https://openalex.org/W2343757578","https://openalex.org/W2416041116","https://openalex.org/W2526622367","https://openalex.org/W2559847752","https://openalex.org/W2593610497","https://openalex.org/W2609356747","https://openalex.org/W2612144999","https://openalex.org/W2773698651","https://openalex.org/W2941228600","https://openalex.org/W2943200793","https://openalex.org/W2955819703","https://openalex.org/W2962957031","https://openalex.org/W2963348180","https://openalex.org/W2964208980","https://openalex.org/W2990747716","https://openalex.org/W3038245394","https://openalex.org/W3090599104","https://openalex.org/W6640174482","https://openalex.org/W6649455214","https://openalex.org/W6684338915","https://openalex.org/W6761825329"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2163296013"],"abstract_inverted_index":{"The":[0],"ability":[1,40],"to":[2,17,41,96],"perform":[3,18],"in-hand":[4],"manipulation":[5],"still":[6],"remains":[7],"an":[8],"unsolved":[9],"problem;":[10],"having":[11],"this":[12,29],"capability":[13],"would":[14],"allow":[15],"robots":[16],"sophisticated":[19],"tasks":[20],"requiring":[21],"repositioning":[22],"and":[23,74,104,110,132],"reorienting":[24],"of":[25,46,63,90,102],"grasped":[26],"objects.":[27],"In":[28],"work,":[30],"we":[31],"present":[32],"a":[33,67,75,100,117],"novel":[34],"non-anthropomorphic":[35],"robot":[36],"grasper":[37],"with":[38,60,116],"the":[39,50,81,88,94,135],"manipulate":[42],"objects":[43,98,111],"by":[44,56],"means":[45],"active":[47],"surfaces":[48,53],"at":[49],"fingertips.":[51],"Active":[52],"are":[54],"achieved":[55],"spherical":[57],"rolling":[58,77],"fingertips":[59],"two":[61],"degrees":[62],"freedom":[64],"(DoF)":[65],"-":[66,73],"pivoting":[68],"motion":[69,78],"for":[70,79],"surface":[71],"reorientation":[72],"continuous":[76],"moving":[80],"object.":[82],"A":[83],"further":[84],"DoF":[85],"is":[86],"in":[87,130],"base":[89],"each":[91],"finger,":[92],"allowing":[93],"fingers":[95],"grasp":[97],"over":[99],"range":[101],"size":[103],"shapes.":[105],"Instantaneous":[106],"kinematics":[107],"was":[108],"derived":[109],"were":[112],"successfully":[113],"manipulated":[114],"both":[115],"custom":[118],"handcrafted":[119],"control":[120],"scheme":[121],"as":[122,124],"well":[123],"one":[125],"learned":[126],"through":[127],"imitation":[128],"learning,":[129],"simulation":[131],"experimentally":[133],"on":[134],"hardware.":[136]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":4}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}
