{"id":"https://openalex.org/W1989075687","doi":"https://doi.org/10.1109/raad.2014.7002259","title":"Modeling and analysis of 3D deformable object grasping","display_name":"Modeling and analysis of 3D deformable object grasping","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1989075687","doi":"https://doi.org/10.1109/raad.2014.7002259","mag":"1989075687"},"language":"en","primary_location":{"id":"doi:10.1109/raad.2014.7002259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/raad.2014.7002259","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","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/A5054440312","display_name":"Lazher Zaidi","orcid":null},"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Zaidi Lazher","raw_affiliation_strings":["Pascal Institute, Clermont University, Clermont-Ferrand, France","Pascal Institute, UMR 6602 CNRS/UBP/IFMA, Clermont University, BP10448, F-63000 Clermont-Ferrand, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Pascal Institute, Clermont University, Clermont-Ferrand, France","institution_ids":[]},{"raw_affiliation_string":"Pascal Institute, UMR 6602 CNRS/UBP/IFMA, Clermont University, BP10448, F-63000 Clermont-Ferrand, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048331982","display_name":"Bouzgarrou Belhassen-Chedli","orcid":null},"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Bouzgarrou Belhassen-Chedli","raw_affiliation_strings":["Pascal Institute, Clermont University, Clermont-Ferrand, France","Pascal Institute, UMR 6602 CNRS/UBP/IFMA, Clermont University, BP10448, F-63000 Clermont-Ferrand, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Pascal Institute, Clermont University, Clermont-Ferrand, France","institution_ids":[]},{"raw_affiliation_string":"Pascal Institute, UMR 6602 CNRS/UBP/IFMA, Clermont University, BP10448, F-63000 Clermont-Ferrand, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038794259","display_name":"Laurent Sabourin","orcid":null},"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Laurent Sabourin","raw_affiliation_strings":["Pascal Institute, Clermont University, Clermont-Ferrand, France","Pascal Institute, UMR 6602 CNRS/UBP/IFMA, Clermont University, BP10448, F-63000 Clermont-Ferrand, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Pascal Institute, Clermont University, Clermont-Ferrand, France","institution_ids":[]},{"raw_affiliation_string":"Pascal Institute, UMR 6602 CNRS/UBP/IFMA, Clermont University, BP10448, F-63000 Clermont-Ferrand, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048178604","display_name":"Youcef Mezouar","orcid":"https://orcid.org/0000-0001-8138-3928"},"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mezouar Youcef","raw_affiliation_strings":["Pascal Institute, Clermont University, Clermont-Ferrand, France","Pascal Institute, UMR 6602 CNRS/UBP/IFMA, Clermont University, BP10448, F-63000 Clermont-Ferrand, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Pascal Institute, Clermont University, Clermont-Ferrand, France","institution_ids":[]},{"raw_affiliation_string":"Pascal Institute, UMR 6602 CNRS/UBP/IFMA, Clermont University, BP10448, F-63000 Clermont-Ferrand, France","institution_ids":["https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1294671590"],"apc_list":null,"apc_paid":null,"fwci":1.8638,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.82123002,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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":0.9987999796867371,"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":0.9973000288009644,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7361283898353577},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7159396409988403},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6254711747169495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6019283533096313},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46369659900665283},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.45591720938682556},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.41514426469802856},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39566129446029663},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10477149486541748}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7361283898353577},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7159396409988403},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6254711747169495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6019283533096313},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46369659900665283},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.45591720938682556},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.41514426469802856},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39566129446029663},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10477149486541748},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/raad.2014.7002259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/raad.2014.7002259","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1925324831","https://openalex.org/W1973313523","https://openalex.org/W1974799269","https://openalex.org/W1995414376","https://openalex.org/W2001284569","https://openalex.org/W2005824379","https://openalex.org/W2030646370","https://openalex.org/W2047864739","https://openalex.org/W2055156887","https://openalex.org/W2060467095","https://openalex.org/W2064878003","https://openalex.org/W2071231324","https://openalex.org/W2084399420","https://openalex.org/W2121616950","https://openalex.org/W2129723366","https://openalex.org/W2143858177","https://openalex.org/W6668179807"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W4254970379","https://openalex.org/W2056130799","https://openalex.org/W4387962997","https://openalex.org/W2098513497","https://openalex.org/W4307421510","https://openalex.org/W2124146082"],"abstract_inverted_index":{"Robotic":[0],"grasping":[1,24,39,70,144,159,164],"has":[2,43],"been":[3,19],"extensively":[4],"studied":[5],"in":[6,15,47],"the":[7,13,32,66,69,98,101,105,121,129,154,175],"last":[8],"two":[9],"decades.":[10],"Most":[11],"of":[12,28,34,40,68,71,128,153],"researches":[14],"this":[16,62],"field":[17],"have":[18,30],"dedicated":[20],"to":[21,95],"rigid":[22],"body":[23,103],"and":[25,104,125,171],"only":[26],"few":[27],"them":[29],"considered":[31],"case":[33],"deformable":[35,41,73,81,176],"objects.":[36],"Nevertheless,":[37],"robotized":[38,58],"objects":[42],"many":[44],"potential":[45],"applications":[46],"various":[48],"areas":[49],"including":[50],"bio-medical":[51],"processing,":[52],"food":[53],"processing":[54],"industry,":[55],"service":[56],"robotics,":[57],"surgery,":[59],"etc.":[60],"In":[61,93],"paper":[63],"we":[64],"address":[65],"problem":[67],"3D":[72],"object":[74,82],"using":[75,87],"a":[76,88,109,141,158,169],"multi-fingered":[77],"robotic":[78,106],"hand.":[79],"The":[80,133],"behavior":[83],"is":[84,112,115,137,145,161],"modeled":[85],"by":[86],"non-linear":[89],"isotropic":[90],"mass-spring":[91],"system.":[92],"order":[94],"deal":[96],"with":[97],"interactions":[99],"between":[100,120],"manipulated":[102,155],"hand":[107],"fingers,":[108],"contact":[110,131],"model":[111],"proposed.":[113],"It":[114],"based":[116],"on":[117,174],"force":[118,142],"calculations":[119],"hemispherical":[122],"finger":[123],"tips":[124],"each":[126],"facet":[127],"meshed":[130],"surfaces.":[132],"initial":[134],"fingers'":[135],"configuration":[136],"defined":[138],"so":[139],"that":[140],"closure":[143],"obtained,":[146],"which":[147],"eliminates":[148],"any":[149],"relative":[150],"Euclidean":[151],"motion":[152],"object,":[156],"meanwhile,":[157],"criterion":[160],"optimized.":[162],"Several":[163],"criteria":[165],"are":[166],"evaluated":[167],"along":[168],"pick":[170],"place":[172],"operation":[173],"object.":[177]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}