{"id":"https://openalex.org/W1977066443","doi":"https://doi.org/10.1109/robio.2011.6181373","title":"Handling and grasp control with additional grasping point for dexterous manipulation of cylindrical tool","display_name":"Handling and grasp control with additional grasping point for dexterous manipulation of cylindrical tool","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W1977066443","doi":"https://doi.org/10.1109/robio.2011.6181373","mag":"1977066443"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181373","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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/A5008565681","display_name":"Taisuke Sugaiwa","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Taisuke Sugaiwa","raw_affiliation_strings":["Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, Shinjuku, Tokyo, Japan","Department of Modern Mechanical Engineering. School of Creative Science and Engineering, Waseda University. 41-204B(room), Kikui-cho 17, Shinjuku-ku, Tokyo, 162-0044, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering. School of Creative Science and Engineering, Waseda University. 41-204B(room), Kikui-cho 17, Shinjuku-ku, Tokyo, 162-0044, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085499213","display_name":"Kuniyuki Takahashi","orcid":"https://orcid.org/0000-0001-7912-4134"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kuniyuki Takahashi","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Graduate School of Creative Science and Engineering, Waseda University, Shinjuku, Tokyo, Japan","Department of Modern Mechanical Engineering, Graduate School of Creative Science and Engineering, Waseda University, 41-204B(room), Kikui-cho 17, Shinjuku-ku, Tokyo, 162-0044, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Graduate School of Creative Science and Engineering, Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Graduate School of Creative Science and Engineering, Waseda University, 41-204B(room), Kikui-cho 17, Shinjuku-ku, Tokyo, 162-0044, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112612357","display_name":"Hiroyuki Kano","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyuki Kano","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Graduate School of Creative Science and Engineering, Waseda University, Shinjuku, Tokyo, Japan","Department of Modern Mechanical Engineering, Graduate School of Creative Science and Engineering, Waseda University, 41-204B(room), Kikui-cho 17, Shinjuku-ku, Tokyo, 162-0044, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Graduate School of Creative Science and Engineering, Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Graduate School of Creative Science and Engineering, Waseda University, 41-204B(room), Kikui-cho 17, Shinjuku-ku, Tokyo, 162-0044, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101028615","display_name":"Hiroyasu Iwata","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyasu Iwata","raw_affiliation_strings":["Waseda Institute for Advanced Study (WIAS), Waseda University, Shinjuku, Tokyo, Japan","Waseda Institute for Advanced Study (WIAS). Waseda University, 41-204B(room), Kikui-cho 17, Shinjuku-ku, Tokyo, 162-0044, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda Institute for Advanced Study (WIAS), Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Waseda Institute for Advanced Study (WIAS). Waseda University, 41-204B(room), Kikui-cho 17, Shinjuku-ku, Tokyo, 162-0044, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080654277","display_name":"Shigeki Sugano","orcid":"https://orcid.org/0000-0002-9331-2446"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeki Sugano","raw_affiliation_strings":["Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, Shinjuku, Tokyo, Japan","Department of Modern Mechanical Engineering. School of Creative Science and Engineering, Waseda University, Ookubo 3-4-1, Shinjuku-ku, Tokyo, 169-8555, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering. School of Creative Science and Engineering, Waseda University, Ookubo 3-4-1, Shinjuku-ku, Tokyo, 169-8555, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5008565681"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.0517565,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"733","last_page":"738"},"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":0.9988999962806702,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"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":0.858432412147522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5990724563598633},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5860078930854797},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.5556775331497192},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5395393371582031},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5236799120903015},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4894675016403198},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4509548246860504},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.44330596923828125},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.438726007938385},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.4139166474342346},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3951699733734131},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.387332022190094},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36004990339279175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35490304231643677},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35005831718444824},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34102290868759155},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2663179636001587},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14610078930854797},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08229860663414001}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.858432412147522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5990724563598633},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5860078930854797},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.5556775331497192},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5395393371582031},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5236799120903015},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4894675016403198},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4509548246860504},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.44330596923828125},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.438726007938385},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.4139166474342346},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3951699733734131},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.387332022190094},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36004990339279175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35490304231643677},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35005831718444824},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34102290868759155},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2663179636001587},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14610078930854797},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08229860663414001},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181373","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1520726269","https://openalex.org/W2016958754","https://openalex.org/W2094764000","https://openalex.org/W2098904369","https://openalex.org/W2100790457","https://openalex.org/W2105544320","https://openalex.org/W2144837674","https://openalex.org/W2164320048","https://openalex.org/W2166162370","https://openalex.org/W2325136003","https://openalex.org/W2540104143"],"related_works":["https://openalex.org/W2088476797","https://openalex.org/W2625202073","https://openalex.org/W3003943238","https://openalex.org/W4312362134","https://openalex.org/W2335672962","https://openalex.org/W429889454","https://openalex.org/W1755628009","https://openalex.org/W2032351411","https://openalex.org/W2013947590","https://openalex.org/W2775488915"],"abstract_inverted_index":{"This":[0],"study":[1],"aims":[2],"to":[3,30,41,47],"construct":[4],"a":[5,125],"handling":[6],"and":[7,133,140],"grasp":[8],"control":[9,122,132,135,178],"method":[10],"by":[11,87,176],"multi-fingered":[12,163],"robot":[13,164],"hand":[14,165],"with":[15,145],"soft":[16,97],"skin":[17],"for":[18],"the":[19,28,31,34,37,49,55,60,69,75,79,82,93,96,101,105,110,114,117,142,146,150,157,161,167,170],"precision":[20],"operation":[21,39],"of":[22,33,36,78,95,104,113,116,128,149,169],"cylindrical":[23],"tools.":[24],"We":[25,63,99],"believe":[26],"that":[27,67,166],"key":[29],"improvement":[32],"accuracy":[35,168],"tool":[38,61,80,143,151,171],"is":[40,74,92,124,154,174],"use":[42],"an":[43],"additional":[44],"grasping":[45,107,139],"point":[46,108,112],"reduce":[48],"tool's":[50,70,118],"posture":[51,71,119],"fluctuation":[52],"derived":[53],"from":[54,109],"external":[56],"force":[57],"exerted":[58],"at":[59],"nib.":[62,152],"focus":[64],"two":[65,85],"factors":[66],"cause":[68],"fluctuation.":[72,120],"One":[73],"rotation":[76],"movement":[77],"around":[81],"axis":[83],"between":[84],"contacts":[86],"finger-tips.":[88],"The":[89],"other":[90],"one":[91],"deflection":[94],"skin.":[98],"propose":[100],"effective":[102],"allocation":[103],"addition":[106],"view":[111],"reduction":[115],"Our":[121],"architecture":[123],"customized":[126],"combination":[127],"resolved":[129],"motion":[130],"rate":[131],"hybrid":[134],"which":[136],"maintains":[137],"stable":[138],"handles":[141],"along":[144],"desired":[147],"trajectory":[148,173],"It":[153],"validated":[155],"through":[156],"physical":[158],"tests":[159],"using":[160],"actual":[162],"nib":[172],"improved":[175],"proposed":[177],"method.":[179]},"counts_by_year":[{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}