{"id":"https://openalex.org/W2042022466","doi":"https://doi.org/10.1109/robio.2011.6181509","title":"A grasp performance criterion for robot hands considering multiple aspects of tasks and hand configurations","display_name":"A grasp performance criterion for robot hands considering multiple aspects of tasks and hand configurations","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2042022466","doi":"https://doi.org/10.1109/robio.2011.6181509","mag":"2042022466"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181509","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":"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/A5026575535","display_name":"Masahiro Sato","orcid":"https://orcid.org/0000-0003-0000-6341"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Sato","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, Japan","College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, 525\u20108577, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, 525\u20108577, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102278010","display_name":"Tsuneo Yoshikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tsuneo Yoshikawa","raw_affiliation_strings":["College of Information Science and Engi-neering, Ritsumeikan University, Kusatsu, Shiga, Japan","College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, 525\u20108577, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engi-neering, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, 525\u20108577, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":1.7468,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.8202559,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1547","last_page":"1554"},"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":0.9962000250816345,"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":0.9879999756813049,"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":0.9760564565658569},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7144584059715271},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7104764580726624},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7015341520309448},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.6964343786239624},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6601567268371582},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.6542469263076782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6148338317871094},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5779178738594055},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5618358850479126},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.42840316891670227},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3413357138633728},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23617079854011536}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9760564565658569},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7144584059715271},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7104764580726624},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7015341520309448},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.6964343786239624},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6601567268371582},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.6542469263076782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6148338317871094},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5779178738594055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5618358850479126},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.42840316891670227},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3413357138633728},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23617079854011536},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181509","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":23,"referenced_works":["https://openalex.org/W562639461","https://openalex.org/W1510186039","https://openalex.org/W1520726269","https://openalex.org/W1794703952","https://openalex.org/W1978580730","https://openalex.org/W1996630649","https://openalex.org/W2049617391","https://openalex.org/W2072288830","https://openalex.org/W2100182432","https://openalex.org/W2100664041","https://openalex.org/W2102469765","https://openalex.org/W2107758079","https://openalex.org/W2116817751","https://openalex.org/W2124190538","https://openalex.org/W2134060734","https://openalex.org/W2135085314","https://openalex.org/W2135241952","https://openalex.org/W2136364779","https://openalex.org/W2149729559","https://openalex.org/W2163405574","https://openalex.org/W2167788274","https://openalex.org/W3088063282","https://openalex.org/W6662946448"],"related_works":["https://openalex.org/W2666340839","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/W2013947590","https://openalex.org/W2775488915"],"abstract_inverted_index":{"In":[0],"this":[1,109],"paper,":[2],"a":[3,66,107],"task-oriented":[4],"grasp":[5,16,67],"performance":[6],"criterion":[7,68,110,126],"for":[8,69],"robot":[9,62,135],"hands":[10],"is":[11],"discussed.":[12],"The":[13],"objectives":[14],"of":[15,61,72,78,99,134],"criteria":[17,39],"proposed":[18,89,125],"in":[19],"the":[20,26,35,44,54,58,76,79,92,97,112,116,131],"past":[21],"are":[22],"stable":[23],"grasping":[24,93,113],"and":[25,32,51,57,85,104,115],"tasks":[27,73],"that":[28,74,123],"require":[29],"adequate":[30],"forces":[31],"moments":[33],"on":[34,53],"grasped":[36,55,100],"object.":[37],"These":[38],"do":[40],"not":[41],"mainly":[42],"consider":[43],"other":[45],"physical":[46],"quantities":[47],"such":[48],"as":[49],"positions":[50],"velocities":[52],"object":[56],"mechanical":[59],"property":[60],"hands.":[63,136],"We":[64],"propose":[65],"various":[70],"kinds":[71],"evaluates":[75],"feasibility":[77],"task":[80],"with":[81],"considering":[82,96],"hand":[83,86,117],"mechanisms":[84],"configurations.":[87],"Our":[88],"method":[90],"determine":[91],"position":[94,114],"by":[95],"efficiency":[98],"object's":[101],"position,":[102],"velocity,":[103],"force.":[105],"As":[106],"result,":[108],"decides":[111],"configuration.":[118],"Additionally,":[119],"we":[120],"have":[121],"shown":[122],"our":[124],"can":[127],"be":[128],"applied":[129],"to":[130],"design":[132],"problem":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}