{"id":"https://openalex.org/W2146711476","doi":"https://doi.org/10.1109/robot.2005.1570276","title":"Kinematic Redundancy in Robot Grasp Synthesis. An Efficient Tree-based Representation","display_name":"Kinematic Redundancy in Robot Grasp Synthesis. An Efficient Tree-based Representation","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2146711476","doi":"https://doi.org/10.1109/robot.2005.1570276","mag":"2146711476"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5039271173","display_name":"C\u00e9sar Fern\u00e1ndez","orcid":"https://orcid.org/0000-0002-9391-9192"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"C. Fernandez","raw_affiliation_strings":["System Engineering and Automation Division, Miguel Hernandez University, Elche, Alicante, Spain"],"affiliations":[{"raw_affiliation_string":"System Engineering and Automation Division, Miguel Hernandez University, Elche, Alicante, Spain","institution_ids":["https://openalex.org/I111262870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050983525","display_name":"\u00d3scar Reinoso","orcid":"https://orcid.org/0000-0002-1065-8944"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"O. Reinoso","raw_affiliation_strings":["System Engineering and Automation Division, Miguel Hernandez University, Elche, Alicante, Spain"],"affiliations":[{"raw_affiliation_string":"System Engineering and Automation Division, Miguel Hernandez University, Elche, Alicante, Spain","institution_ids":["https://openalex.org/I111262870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090537084","display_name":"Mar\u00eda Asunci\u00f3n Vicente","orcid":"https://orcid.org/0000-0002-8630-7251"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Vicente","raw_affiliation_strings":["System Engineering and Automation Division, Miguel Hernandez University, Elche, Alicante, Spain"],"affiliations":[{"raw_affiliation_string":"System Engineering and Automation Division, Miguel Hernandez University, Elche, Alicante, Spain","institution_ids":["https://openalex.org/I111262870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043537205","display_name":"Rafa\u00e9l Aracil","orcid":null},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"R. Aracil","raw_affiliation_strings":["UPM-DISAM, Polytechnical University of Madrid, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"UPM-DISAM, Polytechnical University of Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5039271173"],"corresponding_institution_ids":["https://openalex.org/I111262870"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.12241976,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1184","last_page":"1189"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.994700014591217,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9825000166893005,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8671680688858032},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.8144091367721558},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7495661973953247},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6942439675331116},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.652653157711029},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6085761189460754},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5147228837013245},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.503457248210907},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4903907775878906},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.45050716400146484},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.401298463344574},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20500677824020386},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1830047070980072},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15146669745445251}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8671680688858032},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8144091367721558},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7495661973953247},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6942439675331116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.652653157711029},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6085761189460754},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5147228837013245},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.503457248210907},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4903907775878906},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.45050716400146484},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.401298463344574},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20500677824020386},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1830047070980072},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15146669745445251},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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":15,"referenced_works":["https://openalex.org/W72918951","https://openalex.org/W1495986858","https://openalex.org/W1976523141","https://openalex.org/W1988735952","https://openalex.org/W2015003349","https://openalex.org/W2096989467","https://openalex.org/W2120471834","https://openalex.org/W2136291208","https://openalex.org/W2144629157","https://openalex.org/W2145157203","https://openalex.org/W2966207845","https://openalex.org/W3146380049","https://openalex.org/W4285719527","https://openalex.org/W6601449250","https://openalex.org/W6680234215"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W2056483949","https://openalex.org/W4287201739","https://openalex.org/W2114938142","https://openalex.org/W3214990115","https://openalex.org/W4231651419","https://openalex.org/W2744818472"],"abstract_inverted_index":{"A":[0],"redundancy":[1],"resolution":[2],"technique":[3],"devoted":[4],"to":[5,26,35,47,73,83],"grasp":[6],"synthesis":[7],"is":[8,25,55,79],"presented.":[9],"Given":[10],"a":[11,17,88],"set":[12],"of":[13,32,60,91],"contact":[14,36,50],"points":[15,37],"and":[16,21,38,98],"certain":[18],"robot":[19,99],"arm":[20],"gripper,":[22],"the":[23,29,39,45,58,75],"goal":[24],"select":[27],"both":[28],"best":[30,40],"assignment":[31],"gripper":[33],"fingers":[34,46],"joint":[41],"values":[42],"that":[43],"allow":[44],"reach":[48],"such":[49],"points.":[51],"The":[52],"system":[53],"proposed":[54],"based":[56],"on":[57],"generation":[59],"an":[61],"inverse":[62],"kinematics":[63],"tree":[64],"where":[65],"fast":[66],"searches":[67],"can":[68],"be":[69],"performed":[70],"in":[71],"order":[72],"find":[74],"optimum":[76],"configuration.":[77],"Optimality":[78],"defined":[80],"as":[81],"similarity":[82],"previously":[84],"stored":[85],"examples":[86],"over":[87],"hierarchical":[89],"structure":[90],"configuration":[92],"data,":[93],"which":[94],"includes":[95],"finger":[96],"assignments":[97],"joints.":[100]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}