{"id":"https://openalex.org/W2119948266","doi":"https://doi.org/10.1109/med.2013.6608757","title":"Precision grasp planning based on Fast Marching Square","display_name":"Precision grasp planning based on Fast Marching Square","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2119948266","doi":"https://doi.org/10.1109/med.2013.6608757","mag":"2119948266"},"language":"en","primary_location":{"id":"doi:10.1109/med.2013.6608757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2013.6608757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"21st Mediterranean Conference on Control and Automation","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/A5111915525","display_name":"David A Lvarez","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"David A Lvarez","raw_affiliation_strings":["Universidad Carlos III de Madrid, Madrid, Madrid, ES","Dept. of Syst. & Autom., Univ. Carlos III of Madrid, Legane\u0301s, Spain"],"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid, Madrid, Madrid, ES","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Dept. of Syst. & Autom., Univ. Carlos III of Madrid, Legane\u0301s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043111289","display_name":"Alejandro Lumbier","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alejandro Lumbier","raw_affiliation_strings":["Department of Systems and Automation, University Carlos III of Madrid, Legan\u00e9s, Spain","Dept. of Syst. & Autom., Univ. Carlos III of Madrid, Legane\u0301s, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems and Automation, University Carlos III of Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Dept. of Syst. & Autom., Univ. Carlos III of Madrid, Legane\u0301s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045316000","display_name":"Javier V. G\u00f3mez","orcid":"https://orcid.org/0000-0003-3030-282X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier V. Gomez","raw_affiliation_strings":["Department of Systems and Automation, University Carlos III of Madrid, Legan\u00e9s, Spain","Dept. of Syst. & Autom., Univ. Carlos III of Madrid, Legane\u0301s, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems and Automation, University Carlos III of Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Dept. of Syst. & Autom., Univ. Carlos III of Madrid, Legane\u0301s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030540686","display_name":"Santiago Garrido","orcid":"https://orcid.org/0000-0002-3838-8421"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Santiago Garrido","raw_affiliation_strings":["Department of Systems and Automation, University Carlos III of Madrid, Legan\u00e9s, Spain","Dept. of Syst. & Autom., Univ. Carlos III of Madrid, Legane\u0301s, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems and Automation, University Carlos III of Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Dept. of Syst. & Autom., Univ. Carlos III of Madrid, Legane\u0301s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028039528","display_name":"Lu\u00eds Moreno","orcid":"https://orcid.org/0000-0002-4450-680X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Moreno","raw_affiliation_strings":["Department of Systems and Automation, University Carlos III of Madrid, Legan\u00e9s, Spain","Dept. of Syst. & Autom., Univ. Carlos III of Madrid, Legane\u0301s, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems and Automation, University Carlos III of Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Dept. of Syst. & Autom., Univ. Carlos III of Madrid, Legane\u0301s, Spain","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111915525"],"corresponding_institution_ids":["https://openalex.org/I50357001"],"apc_list":null,"apc_paid":null,"fwci":1.0099,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.81900695,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"425","last_page":"430"},"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":0.9980999827384949,"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":0.9970999956130981,"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":0.9025156497955322},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7125676870346069},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7113216519355774},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6466646194458008},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5865126848220825},{"id":"https://openalex.org/keywords/fast-marching-method","display_name":"Fast marching method","score":0.5592228174209595},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.555350661277771},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5324327349662781},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5252510905265808},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4953569173812866},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4915398061275482},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43788570165634155},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41284406185150146},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39392635226249695},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29795148968696594},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1979946494102478}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9025156497955322},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7125676870346069},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7113216519355774},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6466646194458008},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5865126848220825},{"id":"https://openalex.org/C17866373","wikidata":"https://www.wikidata.org/wiki/Q5437042","display_name":"Fast marching method","level":2,"score":0.5592228174209595},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.555350661277771},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5324327349662781},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5252510905265808},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4953569173812866},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4915398061275482},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43788570165634155},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41284406185150146},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39392635226249695},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29795148968696594},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1979946494102478},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med.2013.6608757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2013.6608757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"21st Mediterranean Conference on Control and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7900000214576721,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1542801064","https://openalex.org/W1991113069","https://openalex.org/W1999244633","https://openalex.org/W1999597131","https://openalex.org/W2002515595","https://openalex.org/W2008660103","https://openalex.org/W2028617598","https://openalex.org/W2064878003","https://openalex.org/W2090840593","https://openalex.org/W2144573888","https://openalex.org/W2148190161","https://openalex.org/W2155840082","https://openalex.org/W2168463767","https://openalex.org/W2210969537","https://openalex.org/W2296944518","https://openalex.org/W2688457519","https://openalex.org/W6697329900"],"related_works":["https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2109003837","https://openalex.org/W2119963650","https://openalex.org/W4312096302","https://openalex.org/W2005471069","https://openalex.org/W2101598871","https://openalex.org/W2109573574","https://openalex.org/W2075639008"],"abstract_inverted_index":{"This":[0,22],"paper":[1],"presents":[2],"a":[3,11,15,48,58,86,111,206],"novel":[4,199],"methodology":[5],"for":[6,38,110,161],"planning":[7,34,137,212],"the":[8,27,61,69,72,78,90,97,100,103,107,114,117,129,135,151,169,172,177,189,195,202,210],"movements":[9,115],"of":[10,99,116,153,171,197,201,209],"robotic":[12],"hand":[13,73],"when":[14],"precision":[16,59,112],"grasp":[17],"wants":[18],"to":[19,51,56,75,80,150,205],"be":[20,81,94,120],"performed.":[21],"approach":[23],"is":[24,45,63,140],"based":[25,175],"on":[26,176],"standard":[28],"Fast":[29],"Marching":[30],"Square":[31],"(FM2)":[32],"path":[33,136],"method":[35,138,203],"recently":[36],"introduced":[37],"robot":[39,49,162],"formations.":[40],"A":[41],"three-finger":[42],"kinematic":[43],"chain":[44],"consider":[46],"as":[47],"formation":[50],"perform":[52],"simulations.":[53],"In":[54,68,102,132,155],"order":[55],"achieve":[57],"grasp,":[60,113],"task":[62],"divided":[64],"into":[65],"two":[66],"phases.":[67],"first":[70],"one,":[71,105],"has":[74],"move":[76],"towards":[77],"object":[79],"grasped":[82],"and":[83,144,186],"stops":[84],"at":[85],"position":[87],"from":[88],"which":[89],"grasping":[91,190],"points":[92,109,125],"can":[93],"reached":[95,127],"by":[96,128],"fingers":[98,118],"hand.":[101],"second":[104],"given":[106],"contact":[108],"must":[119],"planned":[121],"so":[122,142],"that":[123],"those":[124],"are":[126,147,164,174],"corresponding":[130],"fingertips.":[131],"both":[133],"cases,":[134],"used":[139],"FM2,":[141,182],"smooth":[143],"fast":[145],"paths":[146],"ensured":[148],"due":[149],"characteristics":[152],"FM2.":[154],"each":[156],"phase,":[157],"different":[158],"control":[159],"strategies":[160],"formations":[163,173],"used.":[165],"The":[166],"changes":[167],"in":[168,181],"geometry":[170],"velocities":[178],"map":[179],"calculated":[180],"ensuring":[183],"collision":[184],"avoidance":[185],"speeding":[187],"up":[188],"phase.":[191],"Simulation":[192],"results":[193],"show":[194],"usefulness":[196],"this":[198],"application":[200],"thanks":[204],"good":[207],"performance":[208],"chosen":[211],"strategy.":[213]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}