{"id":"https://openalex.org/W4312443287","doi":"https://doi.org/10.1109/iros47612.2022.9981805","title":"Multi-Finger Grasping Like Humans","display_name":"Multi-Finger Grasping Like Humans","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312443287","doi":"https://doi.org/10.1109/iros47612.2022.9981805"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981805","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":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-04323199","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031074685","display_name":"Yuming Du","orcid":"https://orcid.org/0009-0001-2132-8027"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210152518","display_name":"Laboratoire d'Informatique Gaspard-Monge","ror":"https://ror.org/04t50yk91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I142631665","https://openalex.org/I4210145102","https://openalex.org/I4210152518","https://openalex.org/I4210154111","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I4210154111","display_name":"Universit\u00e9 Gustave Eiffel","ror":"https://ror.org/03x42jk29","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154111"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yuming Du","raw_affiliation_strings":["LIGM, Ecole des Ponts, Univ Gustave Eiffel, CNRS,Marne-la-Vallée,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIGM, Ecole des Ponts, Univ Gustave Eiffel, CNRS,Marne-la-Vallée,France","institution_ids":["https://openalex.org/I4210152518","https://openalex.org/I1294671590","https://openalex.org/I4210154111"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054497181","display_name":"Philippe Weinzaepfel","orcid":"https://orcid.org/0000-0002-4223-3983"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Philippe Weinzaepfel","raw_affiliation_strings":["NAVER LABS Europe,Meylan,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NAVER LABS Europe,Meylan,France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070382607","display_name":"Vincent Lepetit","orcid":"https://orcid.org/0000-0001-9985-4433"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210152518","display_name":"Laboratoire d'Informatique Gaspard-Monge","ror":"https://ror.org/04t50yk91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I142631665","https://openalex.org/I4210145102","https://openalex.org/I4210152518","https://openalex.org/I4210154111","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I4210154111","display_name":"Universit\u00e9 Gustave Eiffel","ror":"https://ror.org/03x42jk29","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154111"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Lepetit","raw_affiliation_strings":["LIGM, Ecole des Ponts, Univ Gustave Eiffel, CNRS,Marne-la-Vallée,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIGM, Ecole des Ponts, Univ Gustave Eiffel, CNRS,Marne-la-Vallée,France","institution_ids":["https://openalex.org/I4210152518","https://openalex.org/I1294671590","https://openalex.org/I4210154111"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022956258","display_name":"Romain Br\u00e9gier","orcid":"https://orcid.org/0000-0002-0554-5857"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Romain Br\u00e9gier","raw_affiliation_strings":["NAVER LABS Europe,Meylan,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NAVER LABS Europe,Meylan,France","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0519,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.74891818,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1564","last_page":"1570"},"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":0.9940000176429749,"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":0.9821000099182129,"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/grippers","display_name":"Grippers","score":0.9734219312667847},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9563344120979309},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6587440967559814},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6576347947120667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.644798219203949},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6369306445121765},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5458129644393921},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.49836277961730957},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.42397943139076233},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3287842869758606},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2767159342765808},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07847157120704651},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07330048084259033}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9734219312667847},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9563344120979309},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6587440967559814},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6576347947120667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.644798219203949},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6369306445121765},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5458129644393921},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.49836277961730957},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.42397943139076233},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3287842869758606},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2767159342765808},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07847157120704651},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07330048084259033},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981805","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"},{"id":"pmh:oai:HAL:hal-04323199v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04323199","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Intelligent Robots and Systems, 2022, Kyoto (Japan), Japan. ⟨10.1109/iros47612.2022.9981805⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04323199v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04323199","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Intelligent Robots and Systems, 2022, Kyoto (Japan), Japan. ⟨10.1109/iros47612.2022.9981805⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1510186039","https://openalex.org/W1794703952","https://openalex.org/W1986014385","https://openalex.org/W2024395588","https://openalex.org/W2051228319","https://openalex.org/W2167788274","https://openalex.org/W2204609240","https://openalex.org/W2205950488","https://openalex.org/W2768683308","https://openalex.org/W2908510526","https://openalex.org/W2949924544","https://openalex.org/W2963411833","https://openalex.org/W2963669336","https://openalex.org/W2968722025","https://openalex.org/W3003177118","https://openalex.org/W3003296541","https://openalex.org/W3008273191","https://openalex.org/W3034479523","https://openalex.org/W3034681090","https://openalex.org/W3081268564","https://openalex.org/W3091133300","https://openalex.org/W3092774272","https://openalex.org/W3099926824","https://openalex.org/W3130002758","https://openalex.org/W3172644340","https://openalex.org/W3180172155","https://openalex.org/W3189615635","https://openalex.org/W3193733623","https://openalex.org/W3203740651","https://openalex.org/W3207187156","https://openalex.org/W3207287914","https://openalex.org/W3209128549","https://openalex.org/W4211008118","https://openalex.org/W4230210808","https://openalex.org/W4287599290","https://openalex.org/W4295312788","https://openalex.org/W6757817989","https://openalex.org/W6766978945","https://openalex.org/W6784862516"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W2088476797","https://openalex.org/W1640559846","https://openalex.org/W2102971868","https://openalex.org/W2625202073","https://openalex.org/W2168487931","https://openalex.org/W4312362134"],"abstract_inverted_index":{"Robots":[0],"with":[1,77,85],"multi-fingered":[2,61],"grippers":[3,90],"could":[4],"perform":[5],"advanced":[6],"manipulation":[7],"tasks":[8],"for":[9,54],"us":[10],"if":[11],"we":[12,26],"were":[13],"able":[14],"to":[15,18,21,59,96,100],"properly":[16],"specify":[17],"them":[19],"what":[20],"do.":[22],"In":[23],"this":[24],"study,":[25],"take":[27],"a":[28,35,41,46,50,117,128],"step":[29],"in":[30],"that":[31,67,92],"direction":[32],"by":[33,45],"making":[34],"robot":[36],"grasp":[37,57],"an":[38],"object":[39],"like":[40],"grasping":[42],"demonstration":[43,103],"performed":[44],"human.":[47],"We":[48,112],"propose":[49],"novel":[51],"optimization-based":[52],"approach":[53,126],"transferring":[55],"human":[56,70,102],"demonstrations":[58],"any":[60,109],"grippers,":[62],"which":[63],"produces":[64],"robotic":[65],"grasps":[66,97],"mimic":[68],"the":[69,74,78,86,101,122],"hand":[71],"orientation":[72],"and":[73,88,120],"contact":[75],"area":[76],"object,":[79],"while":[80],"alleviating":[81],"interpenetration.":[82],"Extensive":[83],"experiments":[84],"Allegro":[87],"BarrettHand":[89],"show":[91],"our":[93,125],"method":[94],"leads":[95],"more":[98],"similar":[99],"than":[104],"existing":[105],"approaches,":[106],"without":[107],"requiring":[108],"gripper-specific":[110],"tuning.":[111],"confirm":[113],"these":[114],"findings":[115],"through":[116],"user":[118],"study":[119],"validate":[121],"applicability":[123],"of":[124],"on":[127],"real":[129],"robot.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}