{"id":"https://openalex.org/W2073668682","doi":"https://doi.org/10.1109/ramech.2008.4681451","title":"A Sufficient Condition For Computing N-Finger Force-Closure Grasps of 3D Objects","display_name":"A Sufficient Condition For Computing N-Finger Force-Closure Grasps of 3D Objects","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2073668682","doi":"https://doi.org/10.1109/ramech.2008.4681451","mag":"2073668682"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2008.4681451","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4681451","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/168927","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082777262","display_name":"Sahar El-Khoury","orcid":null},"institutions":[{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Sahar El-Khoury","raw_affiliation_strings":["LISIF, Universit\u00e9 Pierre et Marie Curie, Paris, France","LISIF, Univ. Pierre et Marie Curie - Paris, Paris"],"affiliations":[{"raw_affiliation_string":"LISIF, Universit\u00e9 Pierre et Marie Curie, Paris, France","institution_ids":["https://openalex.org/I39804081"]},{"raw_affiliation_string":"LISIF, Univ. Pierre et Marie Curie - Paris, Paris","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065975053","display_name":"Anis Sahbani","orcid":"https://orcid.org/0000-0001-6817-1146"},"institutions":[{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Anis Sahbani","raw_affiliation_strings":["ISIR-FRE2507, Universite Pierre et Marie Curie-Paris 6, Paris, France","ISIR, Univ. Pierre et Marie Curie - Paris, Paris"],"affiliations":[{"raw_affiliation_string":"ISIR-FRE2507, Universite Pierre et Marie Curie-Paris 6, Paris, France","institution_ids":["https://openalex.org/I39804081"]},{"raw_affiliation_string":"ISIR, Univ. Pierre et Marie Curie - Paris, Paris","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5082777262"],"corresponding_institution_ids":["https://openalex.org/I39804081"],"apc_list":null,"apc_paid":null,"fwci":1.6557,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.86560165,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"791","last_page":"796"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9957000017166138,"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":0.9804999828338623,"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/wrench","display_name":"Wrench","score":0.9927868843078613},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.6832727193832397},{"id":"https://openalex.org/keywords/convex-hull","display_name":"Convex hull","score":0.6084191203117371},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.5785934925079346},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5331873893737793},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4808843433856964},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.46843940019607544},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4502987265586853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43865767121315},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3559204936027527},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.21224656701087952},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13624614477157593},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06273409724235535}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.9927868843078613},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.6832727193832397},{"id":"https://openalex.org/C206194317","wikidata":"https://www.wikidata.org/wiki/Q1138624","display_name":"Convex hull","level":3,"score":0.6084191203117371},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.5785934925079346},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5331873893737793},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4808843433856964},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.46843940019607544},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4502987265586853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43865767121315},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3559204936027527},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.21224656701087952},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13624614477157593},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06273409724235535},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"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/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ramech.2008.4681451","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4681451","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.930.7259","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.930.7259","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://infoscience.epfl.ch/record/168927/files/RAM2008.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:168927","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/168927","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:168927","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/168927","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1519934244","https://openalex.org/W1564897360","https://openalex.org/W1743450132","https://openalex.org/W1925324831","https://openalex.org/W2013833162","https://openalex.org/W2035464910","https://openalex.org/W2064878003","https://openalex.org/W2098304071","https://openalex.org/W2112827257","https://openalex.org/W2117672645","https://openalex.org/W2126701792","https://openalex.org/W2140173255","https://openalex.org/W2140586277","https://openalex.org/W2146903568","https://openalex.org/W2152247404","https://openalex.org/W2156886697","https://openalex.org/W2158726602","https://openalex.org/W2167788274","https://openalex.org/W2169563662","https://openalex.org/W2277485965","https://openalex.org/W2569769452","https://openalex.org/W3217246742","https://openalex.org/W6680778597","https://openalex.org/W6681389411","https://openalex.org/W6682587549","https://openalex.org/W7024053062"],"related_works":["https://openalex.org/W3114548899","https://openalex.org/W2067759762","https://openalex.org/W4205162136","https://openalex.org/W4245224694","https://openalex.org/W813487984","https://openalex.org/W2501112123","https://openalex.org/W4255565706","https://openalex.org/W4244323852","https://openalex.org/W2105224164","https://openalex.org/W4249341924"],"abstract_inverted_index":{"We":[0,110],"address":[1],"the":[2,45,69,91,107,113,123],"problem":[3,80],"of":[4,9,38,44,53,71,88,90,106],"computing":[5],"n-finger":[6],"force-closure":[7,14,77],"grasps":[8,15],"3D":[10,13,39],"objects.":[11],"As":[12],"involve":[16],"6D":[17,46,59,108],"wrench":[18,47],"space,":[19],"we":[20],"use":[21],"Plucker":[22],"coordinates":[23],"and":[24,74,115],"Grassmann":[25],"algebra,":[26],"to":[27,32,83,122],"demonstrate":[28],"that":[29],"wrenches":[30,95],"associated":[31],"any":[33],"three":[34],"non-aligned":[35,51],"contact":[36],"points":[37],"objects":[40],"form":[41,64],"a":[42,58,72,86,101],"basis":[43,60],"space.":[48],"Thus,":[49],"given":[50],"locations":[52,89],"n":[54],"-":[55],"1":[56],"fingers,":[57],"can":[61,96],"be":[62,97],"extracted":[63],"their":[65],"wrenches.":[66],"This":[67],"permits":[68],"formulation":[70],"fast":[73],"simple":[75],"sufficient":[76],"test.":[78],"The":[79],"is":[81],"transformed":[82],"searching":[84],"for":[85],"set":[87],"nth":[92],"finger":[93],"which":[94],"uniquely":[98],"expressed":[99],"as":[100],"strictly":[102],"negative":[103],"linear":[104],"combination":[105],"basis.":[109],"have":[111],"implemented":[112],"algorithm":[114],"confirmed":[116],"its":[117],"efficiency":[118],"by":[119],"comparing":[120],"it":[121],"classical":[124],"convex-hull":[125],"method":[126],"[21].":[127]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}