{"id":"https://openalex.org/W4405787019","doi":"https://doi.org/10.1109/iros58592.2024.10802185","title":"Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping","display_name":"Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787019","doi":"https://doi.org/10.1109/iros58592.2024.10802185"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802185","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5015223560","display_name":"Albert H. Li","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Albert H. Li","raw_affiliation_strings":["California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006569343","display_name":"Preston Culbertson","orcid":"https://orcid.org/0000-0002-1403-8697"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Preston Culbertson","raw_affiliation_strings":["California Institute of Technology,Department of Civil and Mechanical Engineering,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Civil and Mechanical Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Computing and Mathematical Sciences,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38387411,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2992","last_page":"2999"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9912999868392944,"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":0.9912999868392944,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.979200005531311,"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/T14394","display_name":"Cognitive Science and Education Research","score":0.91839998960495,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7883071899414062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5934693813323975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36127543449401855}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7883071899414062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5934693813323975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36127543449401855},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/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/iros58592.2024.10802185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802185","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1503925285","https://openalex.org/W1559022906","https://openalex.org/W1706124764","https://openalex.org/W1794703952","https://openalex.org/W2063189785","https://openalex.org/W2088043683","https://openalex.org/W2107153006","https://openalex.org/W2109163007","https://openalex.org/W2116817751","https://openalex.org/W2599583537","https://openalex.org/W2738125002","https://openalex.org/W2953249127","https://openalex.org/W3014041360","https://openalex.org/W3023978817","https://openalex.org/W3039599385","https://openalex.org/W3109585842","https://openalex.org/W3131775290","https://openalex.org/W3215810277","https://openalex.org/W4300768751","https://openalex.org/W6839023036","https://openalex.org/W6845692853","https://openalex.org/W6850608351","https://openalex.org/W6862520960"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Conventional":[0],"approaches":[1],"to":[2,30,36,39,53,159],"grasp":[3,33,64,117],"planning":[4,65],"re-":[5],"quire":[6],"perfect":[7],"knowledge":[8],"of":[9,24,56,77,89,115,165],"an":[10,45],"object\u2019s":[11],"pose":[12,60],"and":[13,126,143],"geometry.":[14],"Uncertainties":[15],"in":[16,21,103,119,151,177],"these":[17,133],"quantities":[18],"induce":[19],"uncertainties":[20],"the":[22,37,87,109,120,122],"quality":[23],"planned":[25],"grasps,":[26],"which":[27,169],"can":[28,172],"lead":[29],"failure.":[31],"Classically,":[32],"robustness":[34,52,84,114,145],"refers":[35],"ability":[38],"resist":[40],"external":[41],"disturbances":[42],"after":[43],"grasping":[44,78],"object.":[46],"In":[47],"contrast,":[48],"this":[49,82,101],"work":[50],"studies":[51],"intrinsic":[54,83,113],"sources":[55],"uncertainty":[57,92],"like":[58],"object":[59],"or":[61],"geometry":[62],"affecting":[63],"before":[66],"execution.":[67],"To":[68],"do":[69],"so,":[70],"we":[71,107,155,170],"develop":[72,160],"a":[73,94,148,161],"novel":[74,162],"analytic":[75,163],"theory":[76,158],"that":[79,138],"reasons":[80],"about":[81],"by":[85],"characterizing":[86],"effect":[88],"friction":[90],"cone":[91],"on":[93,112],"grasp\u2019s":[95],"force":[96,167],"closure":[97],"status.":[98],"We":[99,131],"apply":[100],"result":[102],"two":[104,116],"ways.":[105],"First,":[106],"analyze":[108],"theoretical":[110],"guarantees":[111],"metrics":[118],"literature,":[121],"classical":[123],"Ferrari-Canny":[124],"metric":[125],"more":[127],"recent":[128],"min-weight":[129],"metric.":[130],"validate":[132],"results":[134],"with":[135,142],"hardware":[136],"trials":[137],"compare":[139],"grasps":[140,176],"synthesized":[141],"without":[144],"guarantees,":[146],"showing":[147],"clear":[149],"improvement":[150],"success":[152],"rates.":[153],"Second,":[154],"use":[156],"our":[157],"notion":[164],"probabilistic":[166],"closure,":[168],"show":[171],"generate":[173],"unique,":[174],"uncertainty-aware":[175],"simulation.":[178]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
