{"id":"https://openalex.org/W1965499349","doi":"https://doi.org/10.1109/robio.2012.6491043","title":"An algorithm for object manipulation with three-fingered robotic hands","display_name":"An algorithm for object manipulation with three-fingered robotic hands","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W1965499349","doi":"https://doi.org/10.1109/robio.2012.6491043","mag":"1965499349"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491043","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491043","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100418225","display_name":"Qin Zhang","orcid":"https://orcid.org/0000-0002-7083-8947"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qin Zhang","raw_affiliation_strings":["School of Mechanical & Automotive Engineering, South China University of Technology, Guangzhou 510640, China","School of Mechanical and Automotive Engineering,South China University of Technology,GuangZhou 510640,China)"],"affiliations":[{"raw_affiliation_string":"School of Mechanical & Automotive Engineering, South China University of Technology, Guangzhou 510640, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"School of Mechanical and Automotive Engineering,South China University of Technology,GuangZhou 510640,China)","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065712767","display_name":"Zhi Chen","orcid":"https://orcid.org/0000-0002-2639-1375"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Chen","raw_affiliation_strings":["School of Mechanical & Automotive Engineering, South China University of Technology, Guangzhou 510640, China","School of Mechanical and Automotive Engineering,South China University of Technology,GuangZhou 510640,China)"],"affiliations":[{"raw_affiliation_string":"School of Mechanical & Automotive Engineering, South China University of Technology, Guangzhou 510640, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"School of Mechanical and Automotive Engineering,South China University of Technology,GuangZhou 510640,China)","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111782511","display_name":"Yoshitsugu Kamiya","orcid":null},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kamiya Yoshitsugu","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Kanazawa University, Kanazawa, 920-1192, Japan","Department of Mechanical Systems Engineering,Kanazawa University,Kanazawa 920-1192,Japan)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Kanazawa University, Kanazawa, 920-1192, Japan","institution_ids":["https://openalex.org/I10091056"]},{"raw_affiliation_string":"Department of Mechanical Systems Engineering,Kanazawa University,Kanazawa 920-1192,Japan)","institution_ids":["https://openalex.org/I10091056"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100418225"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04895497,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"666","last_page":"671"},"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":0.9975000023841858,"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":0.9973999857902527,"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/computer-science","display_name":"Computer science","score":0.7044907808303833},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6898806095123291},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.6061424016952515},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5085138082504272},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.48103243112564087},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4637829065322876}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7044907808303833},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6898806095123291},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.6061424016952515},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5085138082504272},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.48103243112564087},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4637829065322876},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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.2012.6491043","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491043","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1537482913","https://openalex.org/W1969506947","https://openalex.org/W1979435356","https://openalex.org/W2000489460","https://openalex.org/W2101915367","https://openalex.org/W2126952943","https://openalex.org/W2143043303","https://openalex.org/W2351920657","https://openalex.org/W2388296994","https://openalex.org/W6650295228"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Multi-fingered":[0],"manipulation":[1,98],"has":[2],"been":[3,17],"an":[4],"hot":[5],"topic":[6],"in":[7],"the":[8,45,49,55,58,62,73,76,80,86,93,96],"past":[9],"decades,":[10],"and":[11,23,32,54],"a":[12,30,69,101],"number":[13],"of":[14,51,57,75,82,95],"algorithms":[15],"have":[16],"proposed":[18],"with":[19,38,100],"their":[20],"own":[21],"advantages":[22],"disadvantages.":[24],"In":[25],"this":[26],"paper,":[27],"we":[28],"present":[29,68],"simple":[31],"effective":[33],"algorithm":[34,99],"for":[35],"manipulating":[36],"objects":[37],"three-fingered":[39],"robotic":[40],"hand.":[41],"We":[42,66,90],"first":[43],"build":[44],"mathematical":[46,88],"relationship":[47],"between":[48],"configuration":[50,56,74],"each":[52],"fingertip":[53],"plane":[59],"determined":[60],"by":[61],"three":[63],"contact":[64],"points.":[65],"then":[67],"method":[70],"to":[71],"control":[72],"grasped":[77],"object":[78],"through":[79],"movement":[81],"fingertips":[83],"based":[84],"on":[85],"above":[87],"relationship.":[89],"finally":[91],"verify":[92],"effectiveness":[94],"presented":[97],"simulation.":[102]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}