{"id":"https://openalex.org/W2942946007","doi":"https://doi.org/10.1109/sii.2019.8700387","title":"Kinematic modeling of an anthropomorphic hand using unit dual quaternion","display_name":"Kinematic modeling of an anthropomorphic hand using unit dual quaternion","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2942946007","doi":"https://doi.org/10.1109/sii.2019.8700387","mag":"2942946007"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2019.8700387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2019.8700387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://uca.hal.science/hal-02133782","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112516860","display_name":"Rohit Chandra","orcid":null},"institutions":[{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]},{"id":"https://openalex.org/I4210123221","display_name":"Sigma Clermont","ror":"https://ror.org/02n5evf44","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4210123221","https://openalex.org/I4387154249"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Rohit Chandra","raw_affiliation_strings":["Universit\u00e9e Clermont Auvergne, SIGMA Clermont, Institute, Clermont-Ferrand, France","IP - Institut Pascal (Campus Universitaire des C\u00e9zeaux, 4 avenue Blaise Pascal, TSA 60026 / CS 60026, 63178 Aubi\u00e8re Cedex - France)"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9e Clermont Auvergne, SIGMA Clermont, Institute, Clermont-Ferrand, France","institution_ids":["https://openalex.org/I4210123221"]},{"raw_affiliation_string":"IP - Institut Pascal (Campus Universitaire des C\u00e9zeaux, 4 avenue Blaise Pascal, TSA 60026 / CS 60026, 63178 Aubi\u00e8re Cedex - France)","institution_ids":["https://openalex.org/I198244214","https://openalex.org/I169645620"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067719607","display_name":"Juan Antonio Corrales Ram\u00f3n","orcid":"https://orcid.org/0000-0002-9373-7954"},"institutions":[{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]},{"id":"https://openalex.org/I4210123221","display_name":"Sigma Clermont","ror":"https://ror.org/02n5evf44","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4210123221","https://openalex.org/I4387154249"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Juan Antonio Corrales-Ramon","raw_affiliation_strings":["Universit\u00e9e Clermont Auvergne, SIGMA Clermont, Institute, Clermont-Ferrand, France","IP - Institut Pascal (Campus Universitaire des C\u00e9zeaux, 4 avenue Blaise Pascal, TSA 60026 / CS 60026, 63178 Aubi\u00e8re Cedex - France)"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9e Clermont Auvergne, SIGMA Clermont, Institute, Clermont-Ferrand, France","institution_ids":["https://openalex.org/I4210123221"]},{"raw_affiliation_string":"IP - Institut Pascal (Campus Universitaire des C\u00e9zeaux, 4 avenue Blaise Pascal, TSA 60026 / CS 60026, 63178 Aubi\u00e8re Cedex - France)","institution_ids":["https://openalex.org/I198244214","https://openalex.org/I169645620"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048178604","display_name":"Youcef Mezouar","orcid":"https://orcid.org/0000-0001-8138-3928"},"institutions":[{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]},{"id":"https://openalex.org/I4210123221","display_name":"Sigma Clermont","ror":"https://ror.org/02n5evf44","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214","https://openalex.org/I4210123221","https://openalex.org/I4387154249"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Youcef Mezouar","raw_affiliation_strings":["Universit\u00e9e Clermont Auvergne, SIGMA Clermont, Institute, Clermont-Ferrand, France","IP - Institut Pascal (Campus Universitaire des C\u00e9zeaux, 4 avenue Blaise Pascal, TSA 60026 / CS 60026, 63178 Aubi\u00e8re Cedex - France)"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9e Clermont Auvergne, SIGMA Clermont, Institute, Clermont-Ferrand, France","institution_ids":["https://openalex.org/I4210123221"]},{"raw_affiliation_string":"IP - Institut Pascal (Campus Universitaire des C\u00e9zeaux, 4 avenue Blaise Pascal, TSA 60026 / CS 60026, 63178 Aubi\u00e8re Cedex - France)","institution_ids":["https://openalex.org/I198244214","https://openalex.org/I169645620"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5112516860"],"corresponding_institution_ids":["https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210123221"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0340512,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"433","last_page":"437"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/kinematics","display_name":"Kinematics","score":0.8923802971839905},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7775749564170837},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.7244674563407898},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5685575604438782},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.5588544011116028},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5116939544677734},{"id":"https://openalex.org/keywords/dual-quaternion","display_name":"Dual quaternion","score":0.5059794783592224},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.459847092628479},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4528924822807312},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.4391273856163025},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4329341650009155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4317014217376709},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35785019397735596},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34668147563934326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27794185280799866},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23184818029403687},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17678815126419067},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07472437620162964}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8923802971839905},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7775749564170837},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.7244674563407898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5685575604438782},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.5588544011116028},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5116939544677734},{"id":"https://openalex.org/C145941777","wikidata":"https://www.wikidata.org/wiki/Q5310237","display_name":"Dual quaternion","level":3,"score":0.5059794783592224},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.459847092628479},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4528924822807312},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.4391273856163025},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4329341650009155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4317014217376709},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35785019397735596},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34668147563934326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27794185280799866},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23184818029403687},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17678815126419067},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07472437620162964},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sii.2019.8700387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2019.8700387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02133782v1","is_oa":true,"landing_page_url":"https://uca.hal.science/hal-02133782","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII), Jan 2019, Paris, France. pp.433-437, ⟨10.1109/SII.2019.8700387⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02133782v1","is_oa":true,"landing_page_url":"https://uca.hal.science/hal-02133782","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII), Jan 2019, Paris, France. pp.433-437, ⟨10.1109/SII.2019.8700387⟩","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W826574797","https://openalex.org/W1495870684","https://openalex.org/W1966870218","https://openalex.org/W2006273035","https://openalex.org/W2027906638","https://openalex.org/W2136340622","https://openalex.org/W2136938510","https://openalex.org/W2140304139","https://openalex.org/W2198175128","https://openalex.org/W4213280246","https://openalex.org/W4248960794"],"related_works":["https://openalex.org/W2811382984","https://openalex.org/W2375200650","https://openalex.org/W2347988643","https://openalex.org/W2353085265","https://openalex.org/W2351331567","https://openalex.org/W4256303909","https://openalex.org/W2058205375","https://openalex.org/W2138377666","https://openalex.org/W1969999327","https://openalex.org/W2383683574"],"abstract_inverted_index":{"In":[0],"this":[1],"work":[2],"we":[3],"present":[4],"the":[5,35,49,57,68],"kinematic":[6,50,75],"model":[7,51,93],"of":[8,13,59,81,90],"an":[9,99],"anthropomorphic":[10,100],"hand,":[11],"consisting":[12],"fingers":[14],"with":[15,56],"coupled":[16],"joints":[17],"similar":[18],"to":[19,65],"humans,":[20],"for":[21,30,102],"forward":[22,72],"and":[23,38,48,73],"inverse":[24,74],"kinematics":[25,58,84],"computation.":[26],"Additionaly,":[27],"a":[28,60],"strategy":[29],"relative":[31],"pose":[32],"control":[33],"between":[34],"finger":[36],"tips":[37],"thumb":[39],"is":[40,96],"also":[41],"developed.":[42],"The":[43,71,92],"formulation":[44],"uses":[45],"geometrical":[46],"analysis,":[47],"can":[52],"easily":[53],"be":[54],"integrated":[55],"robotic":[61],"arm":[62],"in":[63],"order":[64],"benefit":[66],"from":[67],"added":[69],"redundancy.":[70],"formulations":[76],"use":[77],"unit":[78],"dual-quaternion":[79],"representation":[80,89],"screw":[82],"based":[83],"which":[85],"ensures":[86],"singularity":[87],"free":[88],"orientation.":[91],"hence":[94],"obtained":[95],"implemented":[97],"on":[98],"hand":[101],"validation.":[103]},"counts_by_year":[],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}