{"id":"https://openalex.org/W7131147213","doi":"https://doi.org/10.1109/robio66223.2025.11377196","title":"A Novel Underactuated Robot Gripper with Peaucellier Linkages for Pinching-Scooping Adaptive Grasp in Surface Constraints*","display_name":"A Novel Underactuated Robot Gripper with Peaucellier Linkages for Pinching-Scooping Adaptive Grasp in Surface Constraints*","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131147213","doi":"https://doi.org/10.1109/robio66223.2025.11377196"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11377196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5100611354","display_name":"George Zhang","orcid":"https://orcid.org/0000-0003-2073-7109"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Zhang","raw_affiliation_strings":["School of Robotics and Advanced Manufacturing, Harbin Institute of Technology (Shenzhen),Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"School of Robotics and Advanced Manufacturing, Harbin Institute of Technology (Shenzhen),Shenzhen,China","institution_ids":["https://openalex.org/I4210104064","https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125226807","display_name":"Yizhe Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yizhe Chen","raw_affiliation_strings":["X-Institute,Lab of Robotics,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"X-Institute,Lab of Robotics,Shenzhen,China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126622076","display_name":"Wenzeng Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzeng Zhang","raw_affiliation_strings":["Lab of Robotics,Shenzhen,China,313"],"affiliations":[{"raw_affiliation_string":"Lab of Robotics,Shenzhen,China,313","institution_ids":["https://openalex.org/I4210104064"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100611354"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210104064"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.63458696,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1510","last_page":"1515"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.4661000072956085,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.4661000072956085,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.2750999927520752,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.14100000262260437,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.7994999885559082},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7815999984741211},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6456000208854675},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6334999799728394},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6054999828338623},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5720999836921692},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5302000045776367},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5253999829292297}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7994999885559082},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7815999984741211},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6456000208854675},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6334999799728394},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6054999828338623},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5720999836921692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5503000020980835},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5349000096321106},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5302000045776367},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5253999829292297},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.44749999046325684},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4025000035762787},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3749000132083893},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.35499998927116394},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.34279999136924744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3321000039577484},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.3174999952316284},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29120001196861267},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2842999994754791},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.28119999170303345},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25870001316070557},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.25679999589920044},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.2515999972820282},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.25}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11377196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11377196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.40817543864250183,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1888892744","https://openalex.org/W1999375810","https://openalex.org/W2007924815","https://openalex.org/W2096231443","https://openalex.org/W2098335677","https://openalex.org/W2117197536","https://openalex.org/W2126701792","https://openalex.org/W2141150150","https://openalex.org/W2785513282","https://openalex.org/W3013862267","https://openalex.org/W3117616200","https://openalex.org/W4212811347","https://openalex.org/W4402716044","https://openalex.org/W4414432045"],"related_works":[],"abstract_inverted_index":{"The":[0],"pinching":[1,131],"gripper":[2,22,51],"is":[3],"a":[4,24,49,63],"widely":[5],"utilized":[6],"robotic":[7,142],"end-effector,":[8],"yet":[9],"it":[10],"suffers":[11],"from":[12],"notable":[13],"limitations":[14],"in":[15,128,141],"adaptability":[16],"and":[17,37,61,97,108,119,132],"environmental":[18,40],"robustness.":[19],"When":[20],"the":[21,92,101,125],"contacts":[23],"tabletop":[25,70],"surface,":[26],"collisions":[27],"must":[28],"be":[29],"avoided":[30],"to":[31,57],"prevent":[32],"damage,":[33],"complicating":[34],"robot":[35],"control":[36],"necessitating":[38],"extensive":[39],"sensing.":[41],"To":[42],"address":[43],"these":[44],"limitations,":[45],"this":[46,88],"study":[47],"introduces":[48],"tabletop-adaptive":[50],"capable":[52],"of":[53,100],"making":[54],"surface":[55,79],"contact":[56],"bend":[58],"its":[59,136],"fingers":[60],"enable":[62],"scooping":[64,133],"motion.":[65],"Fingers":[66],"designed":[67],"for":[68,138],"intentional":[69],"collision":[71],"require":[72],"fewer":[73],"actuators":[74],"while":[75],"still":[76],"enabling":[77],"robust":[78],"grasping,":[80],"thereby":[81],"enhancing":[82],"versatility":[83],"across":[84],"applications.":[85],"Based":[86],"on":[87],"concept,":[89],"we":[90],"developed":[91],"Peaucellier-A":[93],"Gripper.":[94],"Key":[95],"components":[96],"operational":[98],"principles":[99],"design":[102],"are":[103],"detailed,":[104],"supported":[105],"by":[106],"geometric":[107],"kinematic":[109],"analyses.":[110],"Optimization":[111],"results":[112],"demonstrate":[113],"expanded":[114],"grasping":[115],"range,":[116],"improved":[117],"stability,":[118],"enhanced":[120],"reliability.":[121],"Experimental":[122],"validation":[123],"confirms":[124],"gripper's":[126],"effectiveness":[127],"both":[129],"parallel":[130],"modes,":[134],"highlighting":[135],"potential":[137],"practical":[139],"applications":[140],"manipulation.":[143]},"counts_by_year":[],"updated_date":"2026-02-25T06:17:34.324206","created_date":"2026-02-24T00:00:00"}