{"id":"https://openalex.org/W2096999249","doi":"https://doi.org/10.1109/robot.1985.1087239","title":"Stable prehension with a multi-fingered hand","display_name":"Stable prehension with a multi-fingered hand","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2096999249","doi":"https://doi.org/10.1109/robot.1985.1087239","mag":"2096999249"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1985.1087239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087239","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","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/A5108392571","display_name":"Brenda S. Baker","orcid":null},"institutions":[{"id":"https://openalex.org/I1283103587","display_name":"AT&T (United States)","ror":"https://ror.org/02bbd5539","country_code":"US","type":"company","lineage":["https://openalex.org/I1283103587"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Baker","raw_affiliation_strings":["ATT Bell Laboratories, Murray Hill, NJ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATT Bell Laboratories, Murray Hill, NJ","institution_ids":["https://openalex.org/I1283103587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042902100","display_name":"Steven Fortune","orcid":null},"institutions":[{"id":"https://openalex.org/I1283103587","display_name":"AT&T (United States)","ror":"https://ror.org/02bbd5539","country_code":"US","type":"company","lineage":["https://openalex.org/I1283103587"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Fortune","raw_affiliation_strings":["ATT Bell Laboratories, Murray Hill, NJ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATT Bell Laboratories, Murray Hill, NJ","institution_ids":["https://openalex.org/I1283103587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073115209","display_name":"Eric H. Grosse","orcid":"https://orcid.org/0000-0001-6299-1282"},"institutions":[{"id":"https://openalex.org/I1283103587","display_name":"AT&T (United States)","ror":"https://ror.org/02bbd5539","country_code":"US","type":"company","lineage":["https://openalex.org/I1283103587"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Grosse","raw_affiliation_strings":["ATT Bell Laboratories, Murray Hill, NJ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATT Bell Laboratories, Murray Hill, NJ","institution_ids":["https://openalex.org/I1283103587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1283103587"],"apc_list":null,"apc_paid":null,"fwci":3.7144,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.93099069,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"570","last_page":"575"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.996399998664856,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9957000017166138,"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":0.9206490516662598},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.5866525769233704},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.5862107872962952},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.48171645402908325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44013458490371704},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39587610960006714},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.3436223864555359},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3407752215862274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2568472921848297}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9206490516662598},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.5866525769233704},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.5862107872962952},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.48171645402908325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44013458490371704},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39587610960006714},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3436223864555359},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3407752215862274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2568472921848297},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1985.1087239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087239","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8899999856948853,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W626070666","https://openalex.org/W1489844845","https://openalex.org/W1520592296","https://openalex.org/W1594182762","https://openalex.org/W2060513624","https://openalex.org/W2085545845","https://openalex.org/W2091836083","https://openalex.org/W2313368779","https://openalex.org/W3189610221"],"related_works":["https://openalex.org/W3047876231","https://openalex.org/W2666340839","https://openalex.org/W2128621978","https://openalex.org/W2102469765","https://openalex.org/W2731072988","https://openalex.org/W2381543313","https://openalex.org/W2625202073","https://openalex.org/W2042022466","https://openalex.org/W1989197336","https://openalex.org/W2653136377"],"abstract_inverted_index":{"We":[0],"study":[1],"grasps":[2],"by":[3,36,92],"a":[4,27,52,74,82,100],"robot":[5],"hand":[6,15,65,83],"with":[7,57,73,84],"three":[8,62],"spring-loaded":[9],"fingers.":[10],"In":[11,61,77],"two":[12],"dimensions,":[13,63],"the":[14,23,31,37,40,64,105],"can":[16,66,97],"grasp":[17,50,67],"any":[18,70],"polygon":[19],"stably.":[20],"That":[21],"is,":[22],"grip":[24,103],"is":[25,54],"at":[26,88],"local":[28],"minimum":[29],"of":[30,39,107],"potential":[32],"energy":[33],"function":[34],"defined":[35],"springs":[38],"fingers,":[41],"ignoring":[42],"friction.":[43,108],"Surprisingly,":[44],"under":[45],"some":[46],"conditions":[47],"an":[48],"equilibrium":[49],"on":[51],"circle":[53],"unstable":[55],"even":[56],"respect":[58],"to":[59],"translation.":[60],"and":[68,94],"lift":[69],"cylindrical":[71],"surface":[72],"polygonal":[75],"cross-section.":[76],"contrast":[78],"we":[79],"show":[80],"that":[81],"finger":[85],"angles":[86],"fixed":[87],"120\u00b0,":[89],"as":[90],"proposed":[91],"Hanafusa":[93],"Asada,":[95],"generally":[96],"not":[98],"achieve":[99],"two-dimensional":[101],"stable":[102],"in":[104],"absence":[106]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
