{"id":"https://openalex.org/W2144293369","doi":"https://doi.org/10.1109/robot.2008.4543604","title":"Position and force control of the grasping function for a hyperredundant arm","display_name":"Position and force control of the grasping function for a hyperredundant arm","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2144293369","doi":"https://doi.org/10.1109/robot.2008.4543604","mag":"2144293369"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543604","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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/A5024463972","display_name":"Mircea Iv\u0103nescu","orcid":"https://orcid.org/0000-0003-0967-0759"},"institutions":[{"id":"https://openalex.org/I97553796","display_name":"University of Craiova","ror":"https://ror.org/03s251g81","country_code":"RO","type":"education","lineage":["https://openalex.org/I97553796"]}],"countries":["RO"],"is_corresponding":true,"raw_author_name":"Mircea Ivanescu","raw_affiliation_strings":["University of Craiova, Romania","University of Craiova, Craiova"],"affiliations":[{"raw_affiliation_string":"University of Craiova, Romania","institution_ids":["https://openalex.org/I97553796"]},{"raw_affiliation_string":"University of Craiova, Craiova","institution_ids":["https://openalex.org/I97553796"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079721361","display_name":"Mihaela Florescu","orcid":null},"institutions":[{"id":"https://openalex.org/I97553796","display_name":"University of Craiova","ror":"https://ror.org/03s251g81","country_code":"RO","type":"education","lineage":["https://openalex.org/I97553796"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Mihaela Cecilia Florescu","raw_affiliation_strings":["University of Craiova, Romania","University of Craiova, Craiova"],"affiliations":[{"raw_affiliation_string":"University of Craiova, Romania","institution_ids":["https://openalex.org/I97553796"]},{"raw_affiliation_string":"University of Craiova, Craiova","institution_ids":["https://openalex.org/I97553796"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082298204","display_name":"Nirvana Popescu","orcid":"https://orcid.org/0000-0002-7843-7187"},"institutions":[{"id":"https://openalex.org/I141595442","display_name":"University of Bucharest","ror":"https://ror.org/02x2v6p15","country_code":"RO","type":"education","lineage":["https://openalex.org/I141595442"]},{"id":"https://openalex.org/I61641377","display_name":"Universitatea Na\u021bional\u0103 de \u0218tiin\u021b\u0103 \u0219i Tehnologie Politehnica Bucure\u0219ti","ror":"https://ror.org/0558j5q12","country_code":"RO","type":"education","lineage":["https://openalex.org/I61641377"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Nirvana Popescu","raw_affiliation_strings":["Polytechnic University of Bucharest, Romania","University Politechnica Bucharest, Romania"],"affiliations":[{"raw_affiliation_string":"Polytechnic University of Bucharest, Romania","institution_ids":["https://openalex.org/I141595442","https://openalex.org/I61641377"]},{"raw_affiliation_string":"University Politechnica Bucharest, Romania","institution_ids":["https://openalex.org/I61641377"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102021475","display_name":"Decebal Popescu","orcid":"https://orcid.org/0000-0003-3921-5343"},"institutions":[{"id":"https://openalex.org/I61641377","display_name":"Universitatea Na\u021bional\u0103 de \u0218tiin\u021b\u0103 \u0219i Tehnologie Politehnica Bucure\u0219ti","ror":"https://ror.org/0558j5q12","country_code":"RO","type":"education","lineage":["https://openalex.org/I61641377"]},{"id":"https://openalex.org/I141595442","display_name":"University of Bucharest","ror":"https://ror.org/02x2v6p15","country_code":"RO","type":"education","lineage":["https://openalex.org/I141595442"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Decebal Popescu","raw_affiliation_strings":["Polytechnic University of Bucharest, Romania","University Politechnica Bucharest, Romania"],"affiliations":[{"raw_affiliation_string":"Polytechnic University of Bucharest, Romania","institution_ids":["https://openalex.org/I141595442","https://openalex.org/I61641377"]},{"raw_affiliation_string":"University Politechnica Bucharest, Romania","institution_ids":["https://openalex.org/I61641377"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5024463972"],"corresponding_institution_ids":["https://openalex.org/I97553796"],"apc_list":null,"apc_paid":null,"fwci":5.7575,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.95773996,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9988999962806702,"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/position","display_name":"Position (finance)","score":0.7193803787231445},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6974660158157349},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5795530676841736},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5286973714828491},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5195744037628174},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5090045928955078},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.497207909822464},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.494186669588089},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.476591557264328},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"Equations of motion","score":0.4230152368545532},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38340750336647034},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21231767535209656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17307376861572266},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15227508544921875},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09623727202415466}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7193803787231445},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6974660158157349},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5795530676841736},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5286973714828491},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5195744037628174},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5090045928955078},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.497207909822464},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.494186669588089},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.476591557264328},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.4230152368545532},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38340750336647034},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21231767535209656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17307376861572266},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15227508544921875},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09623727202415466},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543604","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1677966947","https://openalex.org/W1824781776","https://openalex.org/W1842017619","https://openalex.org/W1891615552","https://openalex.org/W1962883659","https://openalex.org/W2081817101","https://openalex.org/W2122398245","https://openalex.org/W2127966735","https://openalex.org/W2133595155","https://openalex.org/W2136940129","https://openalex.org/W2139980347","https://openalex.org/W2145805247","https://openalex.org/W2154963387"],"related_works":["https://openalex.org/W4385452609","https://openalex.org/W2746642893","https://openalex.org/W4313255720","https://openalex.org/W1992538606","https://openalex.org/W2921933148","https://openalex.org/W4376460605","https://openalex.org/W2276570675","https://openalex.org/W848152769","https://openalex.org/W2125082648","https://openalex.org/W2312533462"],"abstract_inverted_index":{"The":[0,10,24,34],"grasping":[1],"control":[2,31,38],"problem":[3],"for":[4,20,26],"a":[5],"hyperredundant":[6],"manipulator":[7],"is":[8,13,39],"presented.":[9,56],"dynamic":[11],"model":[12],"derived":[14],"by":[15],"using":[16],"Lagrange":[17],"equations":[18],"developed":[19],"infinite":[21],"dimensional":[22],"systems.":[23],"algorithms":[25],"the":[27,42,46,49],"position":[28],"and":[29,41],"force":[30],"are":[32,51,55],"proposed.":[33],"arm":[35],"fluid":[36],"pressure":[37],"inferred":[40],"conditions":[43],"that":[44],"ensure":[45],"stability":[47],"of":[48],"motion":[50],"discussed.":[52],"Numerical":[53],"simulations":[54]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}