{"id":"https://openalex.org/W4312837242","doi":"https://doi.org/10.1109/iros47612.2022.9981569","title":"Extrinsic Dexterous Manipulation with a Direct-drive Hand: A Case Study","display_name":"Extrinsic Dexterous Manipulation with a Direct-drive Hand: A Case Study","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312837242","doi":"https://doi.org/10.1109/iros47612.2022.9981569"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981569","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5110962919","display_name":"Arnav Gupta","orcid":"https://orcid.org/0009-0002-5998-4342"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Arnav Gupta","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022646330","display_name":"Yuemin Mao","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuemin Mao","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000243758","display_name":"Ankit Bhatia","orcid":"https://orcid.org/0000-0002-0713-4103"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankit Bhatia","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100565604","display_name":"Xianyi Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xianyi Cheng","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011219370","display_name":"Jonathan P. King","orcid":"https://orcid.org/0000-0002-0875-8794"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan King","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033410023","display_name":"Yifan Hou","orcid":"https://orcid.org/0000-0001-8446-941X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yifan Hou","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002872886","display_name":"Matthew T. Mason","orcid":"https://orcid.org/0000-0002-2672-5689"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew T. Mason","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Berkshire Grey","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Berkshire Grey","institution_ids":[]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5110962919"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.0617,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.75793731,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4660","last_page":"4667"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9972000122070312,"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/grasp","display_name":"GRASP","score":0.9357403516769409},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7658087611198425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7233932018280029},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.624093770980835},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5698227286338806},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5565481185913086},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5414010286331177},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5223509073257446},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5152997970581055},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4574316143989563},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4470406472682953},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18771114945411682},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10750535130500793}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9357403516769409},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7658087611198425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7233932018280029},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.624093770980835},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5698227286338806},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5565481185913086},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5414010286331177},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5223509073257446},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5152997970581055},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4574316143989563},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4470406472682953},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18771114945411682},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10750535130500793},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/iros47612.2022.9981569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981569","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5611456812","display_name":null,"funder_award_id":"IIS-1813920,IIS-1909021","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1198461769","https://openalex.org/W1489844845","https://openalex.org/W1516493184","https://openalex.org/W1539716820","https://openalex.org/W1606689539","https://openalex.org/W2013467411","https://openalex.org/W2058202899","https://openalex.org/W2060506423","https://openalex.org/W2098030884","https://openalex.org/W2106260948","https://openalex.org/W2106618606","https://openalex.org/W2112036576","https://openalex.org/W2142298978","https://openalex.org/W2144113061","https://openalex.org/W2148933384","https://openalex.org/W2172158418","https://openalex.org/W2569769452","https://openalex.org/W2729705546","https://openalex.org/W2735421171","https://openalex.org/W2884776720","https://openalex.org/W2891614462","https://openalex.org/W2918308866","https://openalex.org/W2963446658","https://openalex.org/W2963890559","https://openalex.org/W3023621430","https://openalex.org/W3039439950","https://openalex.org/W3105264685","https://openalex.org/W3196603227","https://openalex.org/W3205980937","https://openalex.org/W4247031047"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739","https://openalex.org/W3214990115","https://openalex.org/W2088476797","https://openalex.org/W2625202073","https://openalex.org/W2102971868","https://openalex.org/W2168487931"],"abstract_inverted_index":{"This":[0],"paper":[1,165],"explores":[2],"a":[3,26,41,60,64,82,168],"novel":[4],"approach":[5],"to":[6,59,86,106,120,124,136,174],"dexterous":[7,49],"manipulation,":[8],"aimed":[9],"at":[10],"levels":[11],"of":[12,51,69,170],"speed,":[13],"precision,":[14],"robustness,":[15],"and":[16,40,54,95,126,146,161,181,187],"simplicity":[17],"suitable":[18,62],"for":[19,63,149],"practical":[20,150],"deployment.":[21],"The":[22,44,122,164],"enabling":[23],"technology":[24],"is":[25,47],"Direct-drive":[27],"Hand":[28],"(DDHand)":[29],"comprising":[30],"two":[31,33],"fingers,":[32],"DOFs":[34],"each,":[35],"that":[36,77],"exhibit":[37],"high":[38],"speed":[39],"light":[42],"touch.":[43],"test":[45],"application":[46],"the":[48,89,176],"manipulation":[50],"three":[52],"small":[53],"irregular":[55],"parts,":[56],"moving":[57],"them":[58],"grasp":[61,90,127],"subsequent":[65],"assembly":[66],"operation,":[67],"regardless":[68],"initial":[70],"presentation.":[71],"We":[72],"employed":[73],"four":[74],"primitive":[75],"behaviors":[76],"use":[78],"ground":[79],"contact":[80],"as":[81],"\u201cthird":[83],"finger\u201d,":[84],"prior":[85],"or":[87],"during":[88],"process:":[91],"pushing,":[92],"pivoting,":[93],"toppling,":[94],"squeeze-grasping.":[96],"In":[97,139],"our":[98],"experiments,":[99],"each":[100,112],"part":[101],"was":[102,128,143],"presented":[103],"from":[104,118,134],"30":[105],"90":[107],"times":[108],"randomly":[109],"positioned":[110],"in":[111,153],"stable":[113],"pose.":[114],"Success":[115],"rates":[116],"varied":[117],"83%":[119],"100%.":[121],"time":[123],"manipulate":[125],"6.32":[129],"seconds":[130],"on":[131,185],"average,":[132],"varying":[133],"2.07":[135],"16":[137],"seconds.":[138],"some":[140],"cases,":[141,155],"performance":[142],"robust,":[144,178],"precise,":[145],"fast":[147],"enough":[148],"applications,":[151],"but":[152],"other":[154],"pose":[156],"uncertainty":[157],"required":[158,173],"time-consuming":[159],"vision":[160,186],"arm":[162,188],"motions.":[163],"concludes":[166],"with":[167],"discussion":[169],"further":[171],"improvements":[172],"make":[175],"primitives":[177],"eliminate":[179],"uncertainty,":[180],"reduce":[182],"this":[183],"dependence":[184],"motion.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}