{"id":"https://openalex.org/W4200123921","doi":"https://doi.org/10.1109/iros51168.2021.9636305","title":"A Computational Framework for Robot Hand Design via Reinforcement Learning","display_name":"A Computational Framework for Robot Hand Design via Reinforcement Learning","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200123921","doi":"https://doi.org/10.1109/iros51168.2021.9636305"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636305","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636305","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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/A5100350966","display_name":"Zhong Zhang","orcid":"https://orcid.org/0000-0002-4523-2652"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhong Zhang","raw_affiliation_strings":["City University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107951465","display_name":"Yu Zheng","orcid":"https://orcid.org/0009-0006-6205-6255"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zheng","raw_affiliation_strings":["Tencent Robotics X, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005043718","display_name":"Zhe Hu","orcid":"https://orcid.org/0000-0002-4277-6427"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhe Hu","raw_affiliation_strings":["City University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062710073","display_name":"Lezhang Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210151615","display_name":"Wuyi University","ror":"https://ror.org/0488wz367","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210151615"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lezhang Liu","raw_affiliation_strings":["Faculty of Intelligent Manufacturing, Wuyi University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Intelligent Manufacturing, Wuyi University","institution_ids":["https://openalex.org/I4210151615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101416688","display_name":"Xuan Zhao","orcid":"https://orcid.org/0000-0002-5535-379X"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xuan Zhao","raw_affiliation_strings":["City University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100335129","display_name":"Xiong Li","orcid":"https://orcid.org/0000-0001-5324-1404"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiong Li","raw_affiliation_strings":["Tencent Robotics X, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076812698","display_name":"Jia Pan","orcid":"https://orcid.org/0000-0001-9003-2054"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jia Pan","raw_affiliation_strings":["The University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7413,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.83647701,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7216","last_page":"7222"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9923999905586243,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9851999878883362,"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":0.7897038459777832},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7792984247207642},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6808574795722961},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6554660797119141},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5729426145553589},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5374302268028259},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.523747444152832},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5232203006744385},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5144877433776855},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.4373055100440979},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4272419810295105},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29716670513153076},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1999594271183014},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1790224313735962}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7897038459777832},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7792984247207642},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6808574795722961},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6554660797119141},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5729426145553589},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5374302268028259},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.523747444152832},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5232203006744385},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5144877433776855},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.4373055100440979},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4272419810295105},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29716670513153076},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1999594271183014},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1790224313735962},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636305","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636305","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1794703952","https://openalex.org/W1888892744","https://openalex.org/W2025338486","https://openalex.org/W2048058874","https://openalex.org/W2065681687","https://openalex.org/W2109163007","https://openalex.org/W2118262422","https://openalex.org/W2120471834","https://openalex.org/W2134060734","https://openalex.org/W2134167019","https://openalex.org/W2155337985","https://openalex.org/W2157063701","https://openalex.org/W2164575107","https://openalex.org/W2416254177","https://openalex.org/W2551300340","https://openalex.org/W2571420106","https://openalex.org/W2596367596","https://openalex.org/W2736601468","https://openalex.org/W2774365095","https://openalex.org/W2963285996","https://openalex.org/W2963355572","https://openalex.org/W3008553879","https://openalex.org/W3011782672","https://openalex.org/W3107834591","https://openalex.org/W3209089215","https://openalex.org/W4243385754","https://openalex.org/W6716503989","https://openalex.org/W6735641298","https://openalex.org/W6741002519","https://openalex.org/W6755864697","https://openalex.org/W6781780510"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W2171912896","https://openalex.org/W2542723153","https://openalex.org/W2021541810","https://openalex.org/W2133150803"],"abstract_inverted_index":{"Robot":[0],"hand":[1,14,36,95,135],"is":[2,15,84],"essential":[3],"for":[4,32,79,145],"a":[5,11,16,29,81],"fully":[6],"functional":[7],"robot":[8,13,35,94,183],"and":[9,24,51,67,131,137,155,175,202],"designing":[10],"good":[12],"sophisticated":[17],"job":[18],"that":[19,181,195],"challenges":[20],"the":[21,76,92,107,117,170,190,197,200],"designer\u2019s":[22],"knowledge":[23],"experience.":[25],"This":[26],"paper":[27,114],"presents":[28],"computational":[30],"framework":[31,58,201],"automatic":[33],"optimal":[34],"design":[37],"based":[38],"on":[39],"reinforcement":[40],"learning":[41],"(RL),":[42],"which":[43],"considers":[44],"desired":[45,98,118],"grasping":[46,99,122],"tasks,":[47],"grasp":[48],"control":[49,103],"strategies,":[50],"performance":[52],"quality":[53,89],"measures":[54],"altogether.":[55],"The":[56,148],"RL-based":[57],"intends":[59],"to":[60,96,120,139,142,168],"grow":[61],"finger":[62],"joints":[63],"with":[64,133],"different":[65,71],"types":[66],"link":[68],"lengths":[69],"at":[70],"positions":[72,136],"from":[73],"null.":[74],"Then,":[75],"reward":[77,171],"function":[78],"such":[80],"growing":[82],"action":[83],"defined":[85],"in":[86,112],"terms":[87,165],"of":[88,91,109,124,158,199],"indexes":[90],"generated":[93,188],"perform":[97],"tasks":[100],"under":[101],"expected":[102],"strategies.":[104],"To":[105],"demonstrate":[106],"effectiveness":[108],"this":[110,113],"framework,":[111],"we":[115,179],"set":[116],"task":[119],"simply":[121],"objects":[123],"three":[125],"primitive":[126],"shapes":[127],"(i.e.,":[128],"box,":[129],"cylinder,":[130],"sphere)":[132],"predefined":[134],"strategies":[138],"close":[140],"fingers":[141],"achieve":[143],"grasps":[144,159],"each":[146],"object.":[147],"force":[149],"closure":[150],"condition,":[151],"quantitative":[152],"stability":[153],"indexes,":[154],"energy":[156],"consumption":[157],"as":[160,162],"well":[161],"some":[163],"penalty":[164],"are":[166,206],"used":[167],"assemble":[169],"function.":[172],"Through":[173],"simulation":[174],"practical":[176],"prototype":[177],"experiments,":[178],"show":[180],"capable":[182],"hands":[184],"can":[185],"be":[186],"automatically":[187],"by":[189],"proposed":[191],"framework.":[192],"Potential":[193],"factors":[194],"affect":[196],"output":[198],"deserve":[203],"further":[204],"exploration":[205],"also":[207],"discussed.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
