{"id":"https://openalex.org/W4396853628","doi":"https://doi.org/10.1109/robosoft60065.2024.10521927","title":"Design and Control Co-Optimization for Automated Design Iteration of Dexterous Anthropomorphic Soft Robotic Hands","display_name":"Design and Control Co-Optimization for Automated Design Iteration of Dexterous Anthropomorphic Soft Robotic Hands","publication_year":2024,"publication_date":"2024-04-14","ids":{"openalex":"https://openalex.org/W4396853628","doi":"https://doi.org/10.1109/robosoft60065.2024.10521927"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft60065.2024.10521927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10521927","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","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/A5032981947","display_name":"Pragna Mannam","orcid":"https://orcid.org/0000-0001-6428-6050"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Pragna Mannam","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100435044","display_name":"Xingyu Liu","orcid":"https://orcid.org/0000-0001-9736-3948"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xingyu Liu","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037644321","display_name":"Ding Zhao","orcid":"https://orcid.org/0000-0002-9400-8446"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ding Zhao","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019807694","display_name":"Jean Oh","orcid":"https://orcid.org/0000-0001-9709-2658"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean Oh","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011046225","display_name":"Nancy S. Pollard","orcid":"https://orcid.org/0000-0001-6464-839X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nancy Pollard","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5032981947"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.3978,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.80338812,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"332","last_page":"339"},"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":0.9997000098228455,"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":0.9927999973297119,"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/teleoperation","display_name":"Teleoperation","score":0.882871150970459},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6757470369338989},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6352893710136414},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5047239065170288},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5035588145256042},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45318907499313354},{"id":"https://openalex.org/keywords/iterative-design","display_name":"Iterative design","score":0.4148159623146057},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3827279806137085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2934796214103699},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18515241146087646},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.07725793123245239}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.882871150970459},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6757470369338989},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6352893710136414},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5047239065170288},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5035588145256042},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45318907499313354},{"id":"https://openalex.org/C106246047","wikidata":"https://www.wikidata.org/wiki/Q4928435","display_name":"Iterative design","level":3,"score":0.4148159623146057},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3827279806137085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2934796214103699},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18515241146087646},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.07725793123245239},{"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/C2778648169","wikidata":"https://www.wikidata.org/wiki/Q967768","display_name":"Compatibility (geochemistry)","level":2,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft60065.2024.10521927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft60065.2024.10521927","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3270933065","display_name":null,"funder_award_id":"2021-67021-35329","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2008909198","https://openalex.org/W2061364557","https://openalex.org/W2062387236","https://openalex.org/W2167935381","https://openalex.org/W2282481780","https://openalex.org/W2596367596","https://openalex.org/W2736021157","https://openalex.org/W2774365095","https://openalex.org/W2943200793","https://openalex.org/W2962696179","https://openalex.org/W2963411833","https://openalex.org/W2968174788","https://openalex.org/W2999169383","https://openalex.org/W3003356003","https://openalex.org/W3010923030","https://openalex.org/W3162373567","https://openalex.org/W3164709982","https://openalex.org/W3174011998","https://openalex.org/W3208264067","https://openalex.org/W3213974477","https://openalex.org/W4221160936","https://openalex.org/W4248443165","https://openalex.org/W4383108491","https://openalex.org/W4386501368","https://openalex.org/W4389665983","https://openalex.org/W4390481062","https://openalex.org/W6735641298","https://openalex.org/W6749311911","https://openalex.org/W6810315089","https://openalex.org/W6847034507","https://openalex.org/W6847480588"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2163296013","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2743859443","https://openalex.org/W2160932924","https://openalex.org/W2082997813"],"abstract_inverted_index":{"We":[0,45],"automate":[1],"soft":[2,98,121],"robotic":[3,122],"hand":[4,36,91,123],"design":[5,9,20,76,131],"iteration":[6,21,132],"by":[7],"co-optimizing":[8],"and":[10,26,58,125],"control":[11,31],"policy":[12,27],"for":[13,33,119],"dexterous":[14],"ma-nipulation":[15],"skills":[16],"in":[17,50,75,78,104,115],"simulation.":[18],"Our":[19,62],"pipeline":[22],"combines":[23],"genetic":[24],"algorithms":[25],"transfer":[28],"to":[29],"learn":[30],"policies":[32],"nearly":[34],"400":[35],"designs,":[37],"testing":[38],"grasp":[39],"quality":[40],"under":[41],"external":[42],"force":[43],"disturbances.":[44],"validate":[46],"the":[47,51,73,83,105,111,126,135],"optimized":[48,90],"designs":[49,92],"real":[52,63,84,106],"world":[53,64],"through":[54],"teleoperation":[55],"of":[56,82,113,128],"pickup":[57],"reorient":[59],"manipulation":[60],"tasks.":[61],"evaluation,":[65],"from":[66,93,101],"over":[67],"900":[68],"teleoperated":[69],"tasks,":[70],"shows":[71],"that":[72,81,89],"trend":[74],"performance":[77],"simulation":[79,114],"resembles":[80],"world.":[85,107],"Furthermore,":[86],"we":[87],"show":[88],"our":[94,129],"approach":[95],"outperform":[96],"existing":[97],"robot":[99],"hands":[100],"prior":[102],"work":[103],"The":[108],"results":[109],"highlight":[110],"usefulness":[112],"guiding":[116],"parameter":[117],"choices":[118],"anthropomorphic":[120],"systems,":[124],"effectiveness":[127],"automated":[130],"approach,":[133],"despite":[134],"sim-to-real":[136],"gap.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}