{"id":"https://openalex.org/W2292004670","doi":"https://doi.org/10.1109/robio.2015.7418769","title":"Torque control for grasping by learning experience and tactile feedback","display_name":"Torque control for grasping by learning experience and tactile feedback","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2292004670","doi":"https://doi.org/10.1109/robio.2015.7418769","mag":"2292004670"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5101792979","display_name":"Wenchang Zhang","orcid":"https://orcid.org/0000-0001-8915-2761"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenchang Zhang","raw_affiliation_strings":["Institute of medical equipment, Tianjin, China","State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of medical equipment, Tianjin, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055546056","display_name":"Fuchun Sun","orcid":"https://orcid.org/0000-0003-3546-6305"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuchun Sun","raw_affiliation_strings":["State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101510063","display_name":"Chunfang Liu","orcid":"https://orcid.org/0000-0003-0389-1665"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunfang Liu","raw_affiliation_strings":["State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033204976","display_name":"Chunle Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunle Gao","raw_affiliation_strings":["State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020767969","display_name":"Weihua Su","orcid":"https://orcid.org/0000-0002-4458-0524"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weihua Su","raw_affiliation_strings":["Institute of medical equipment, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of medical equipment, Tianjin, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6817,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76165642,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"37","issue":null,"first_page":"212","last_page":"218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9936000108718872,"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":0.9622983932495117},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.813055694103241},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6748901605606079},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5959420204162598},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5166500210762024},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4824967384338379},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4725258946418762},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44588884711265564},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39998123049736023},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36937350034713745},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34221917390823364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26276588439941406},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0635988712310791}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9622983932495117},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.813055694103241},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6748901605606079},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5959420204162598},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5166500210762024},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4824967384338379},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4725258946418762},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44588884711265564},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39998123049736023},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36937350034713745},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34221917390823364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26276588439941406},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0635988712310791},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7418769","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.6499999761581421,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W630466744","https://openalex.org/W1901378578","https://openalex.org/W1969506947","https://openalex.org/W1970078615","https://openalex.org/W1975257359","https://openalex.org/W1977497512","https://openalex.org/W1984037069","https://openalex.org/W2008082651","https://openalex.org/W2041704146","https://openalex.org/W2048432791","https://openalex.org/W2057299504","https://openalex.org/W2070311906","https://openalex.org/W2108807072","https://openalex.org/W2120032392","https://openalex.org/W2126971410","https://openalex.org/W2127502734","https://openalex.org/W2139069549","https://openalex.org/W2142041462","https://openalex.org/W2172000360","https://openalex.org/W2196965580","https://openalex.org/W2331464089","https://openalex.org/W2912155302","https://openalex.org/W3215084437","https://openalex.org/W4234100982","https://openalex.org/W6620185313","https://openalex.org/W6643136816","https://openalex.org/W6676485797"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2657478029","https://openalex.org/W4248427955","https://openalex.org/W2106333554","https://openalex.org/W2626503888","https://openalex.org/W2037306763","https://openalex.org/W2080808138","https://openalex.org/W4387962997","https://openalex.org/W2129483190"],"abstract_inverted_index":{"In":[0,28],"robotic":[1,129],"hand":[2,130],"grasp":[3,94,140],"control,":[4],"torque":[5,48,57,73,107,137],"output":[6,52,106,136],"adjustment":[7],"is":[8,88,101],"one":[9],"of":[10,30,85],"most":[11],"important":[12],"problem.":[13],"Grasping":[14],"force":[15],"optimization":[16],"based":[17,59],"on":[18,36,60],"Coulomb":[19],"friction":[20],"cone":[21],"needs":[22],"complex":[23],"calculation":[24],"and":[25,53,63,72,81,89,111,138,144],"exact":[26],"modeling.":[27],"view":[29],"human":[31],"grasp,":[32,104],"precise":[33],"manipulation":[34],"depends":[35],"much":[37],"more":[38],"experience":[39,61,95,116],"rather":[40],"than":[41],"concrete":[42],"object":[43,86,142],"model.":[44],"We":[45],"propose":[46],"a":[47],"control":[49],"approach":[50],"to":[51,79],"adjust":[54],"the":[55,91,105,115,125,134],"optimal":[56,135],"automatically":[58],"learning":[62],"fusion":[64],"sensing":[65],"including":[66],"tactile":[67],"reading,":[68],"joint":[69],"angle":[70],"change,":[71],"feedback.":[74],"Firstly,":[75],"pre-grasp":[76],"can":[77,131],"help":[78],"recognize":[80],"classify":[82],"what":[83],"kind":[84],"it":[87,100],"whether":[90],"robot":[92],"has":[93],"for":[96],"this":[97],"object.":[98],"If":[99],"an":[102],"unknown":[103],"will":[108],"be":[109],"optimized":[110],"adjusted":[112],"by":[113],"updating":[114],"database":[117],"through":[118],"incremental":[119,126],"learning.":[120],"Experiments":[121],"indicate":[122],"that":[123],"with":[124],"learning,":[127],"our":[128],"easily":[132],"calculate":[133],"finally":[139],"novel":[141],"stably":[143],"safely.":[145]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}