{"id":"https://openalex.org/W2005070739","doi":"https://doi.org/10.1109/robot.2010.5509130","title":"Application of caging manipulation and compliant mechanism for a container case hand-over task","display_name":"Application of caging manipulation and compliant mechanism for a container case hand-over task","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2005070739","doi":"https://doi.org/10.1109/robot.2010.5509130","mag":"2005070739"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509130","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5043323310","display_name":"Rui Fukui","orcid":"https://orcid.org/0000-0002-3940-8279"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rui Fukui","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100628808","display_name":"Taketoshi Mori","orcid":"https://orcid.org/0000-0002-7208-6435"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taketoshi Mori","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100994318","display_name":"Tomomasa Sato","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomomasa Sato","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4511","last_page":"4518"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9990000128746033,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9962000250816345,"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/task","display_name":"Task (project management)","score":0.7130424976348877},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7011104822158813},{"id":"https://openalex.org/keywords/container","display_name":"Container (type theory)","score":0.6757301092147827},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6010281443595886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5931909680366516},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5806179642677307},{"id":"https://openalex.org/keywords/winch","display_name":"Winch","score":0.575046956539154},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.47222283482551575},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.44835999608039856},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36655718088150024},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3284475803375244},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32452571392059326},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24684011936187744},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2196500301361084},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11116257309913635}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7130424976348877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7011104822158813},{"id":"https://openalex.org/C2781018962","wikidata":"https://www.wikidata.org/wiki/Q5164884","display_name":"Container (type theory)","level":2,"score":0.6757301092147827},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6010281443595886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5931909680366516},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5806179642677307},{"id":"https://openalex.org/C116168119","wikidata":"https://www.wikidata.org/wiki/Q258534","display_name":"Winch","level":2,"score":0.575046956539154},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.47222283482551575},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.44835999608039856},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36655718088150024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3284475803375244},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32452571392059326},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24684011936187744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2196500301361084},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11116257309913635},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509130","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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":19,"referenced_works":["https://openalex.org/W1675998861","https://openalex.org/W2053336548","https://openalex.org/W2104119965","https://openalex.org/W2112085721","https://openalex.org/W2113643677","https://openalex.org/W2114689627","https://openalex.org/W2125287111","https://openalex.org/W2126284968","https://openalex.org/W2131521011","https://openalex.org/W2136981968","https://openalex.org/W2138575174","https://openalex.org/W2144122392","https://openalex.org/W2153573756","https://openalex.org/W2156523409","https://openalex.org/W2162912282","https://openalex.org/W2168098919","https://openalex.org/W2561580245","https://openalex.org/W6683260895","https://openalex.org/W6683997793"],"related_works":["https://openalex.org/W2066459308","https://openalex.org/W2031970104","https://openalex.org/W2046374373","https://openalex.org/W2043614334","https://openalex.org/W2075107018","https://openalex.org/W2559864208","https://openalex.org/W2120034132","https://openalex.org/W3198260015","https://openalex.org/W2004196108","https://openalex.org/W1975864253"],"abstract_inverted_index":{"This":[0],"research":[1],"aims":[2],"to":[3,18,102],"realize":[4],"a":[5,30,37,42,63,95],"container":[6],"case":[7],"hand-over":[8,38,88],"task":[9,89],"between":[10],"robots.":[11],"Although":[12],"sophisticated":[13],"cooperative":[14,25],"control":[15],"is":[16,100],"essential":[17],"avoid":[19],"destructive":[20],"internal":[21],"force":[22],"in":[23],"general":[24],"transfer":[26],"task,":[27],"we":[28],"propose":[29],"geometrical":[31],"caging":[32,49,83],"strategy":[33,54,84],"which":[34],"can":[35,69,85],"simplify":[36],"task.":[39],"To":[40],"solve":[41],"problem":[43,104],"of":[44,105],"capture":[45,106],"region":[46,107],"mismatch":[47],"during":[48],"state":[50],"transition,":[51],"the":[52,82,87,103],"proposed":[53],"does":[55],"not":[56],"utilize":[57],"additional":[58],"actuators":[59],"and":[60,92,94],"sensors":[61],"but":[62],"compliant":[64],"mechanism":[65,99],"whose":[66],"displacement":[67],"range":[68],"be":[70],"changed":[71],"automatically":[72],"by":[73],"its":[74],"configuration.":[75],"By":[76],"experiments,":[77],"it":[78],"was":[79],"confirmed":[80],"that":[81],"make":[86],"drastically":[90],"easy":[91],"robust,":[93],"winch":[96],"type":[97],"quasi-compliant":[98],"effective":[101],"mismatch.":[108]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}