{"id":"https://openalex.org/W2907450337","doi":"https://doi.org/10.1109/tase.2018.2885801","title":"Combining Analytical Modeling and Learning to Simplify Dexterous Manipulation With Adaptive Robot Hands","display_name":"Combining Analytical Modeling and Learning to Simplify Dexterous Manipulation With Adaptive Robot Hands","publication_year":2018,"publication_date":"2018-12-27","ids":{"openalex":"https://openalex.org/W2907450337","doi":"https://doi.org/10.1109/tase.2018.2885801","mag":"2907450337"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2018.2885801","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2018.2885801","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5043544803","display_name":"Minas Liarokapis","orcid":"https://orcid.org/0000-0002-6016-1477"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":true,"raw_author_name":"Minas Liarokapis","raw_affiliation_strings":["New Dexterity Research Group, The University of Auckland, Auckland, New Zealand"],"affiliations":[{"raw_affiliation_string":"New Dexterity Research Group, The University of Auckland, Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004284487","display_name":"Aaron M. Dollar","orcid":"https://orcid.org/0000-0002-2409-4668"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron M. Dollar","raw_affiliation_strings":["School of Engineering and Applied Science, Yale University, New Haven, CT, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Science, Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5043544803"],"corresponding_institution_ids":["https://openalex.org/I154130895"],"apc_list":null,"apc_paid":null,"fwci":0.9346,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.77495742,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"16","issue":"3","first_page":"1361","last_page":"1372"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9951000213623047,"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":0.9894999861717224,"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/computer-science","display_name":"Computer science","score":0.7109847068786621},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6202912330627441},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5742040276527405},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5346919894218445},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4996201992034912},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.45985275506973267},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.44625455141067505},{"id":"https://openalex.org/keywords/dimensionality-reduction","display_name":"Dimensionality reduction","score":0.4244900345802307},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3283567428588867}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7109847068786621},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6202912330627441},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5742040276527405},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5346919894218445},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4996201992034912},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.45985275506973267},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.44625455141067505},{"id":"https://openalex.org/C70518039","wikidata":"https://www.wikidata.org/wiki/Q16000077","display_name":"Dimensionality reduction","level":2,"score":0.4244900345802307},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3283567428588867},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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":2,"locations":[{"id":"doi:10.1109/tase.2018.2885801","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2018.2885801","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:researchspace.auckland.ac.nz:2292/46049","is_oa":false,"landing_page_url":"https://hdl.handle.net/2292/46049","pdf_url":null,"source":{"id":"https://openalex.org/S7407055463","display_name":"ResearchSpace (University of Auckland)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I154130895","host_organization_name":"University of Auckland","host_organization_lineage":["https://openalex.org/I154130895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4882034846","display_name":null,"funder_award_id":"IIS-1317976","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5726919835","display_name":null,"funder_award_id":"3716482","funder_id":"https://openalex.org/F4320320801","funder_display_name":"University of Auckland"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320801","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1691093543","https://openalex.org/W1888892744","https://openalex.org/W1930624869","https://openalex.org/W1964875262","https://openalex.org/W1964947754","https://openalex.org/W1971111729","https://openalex.org/W1994349244","https://openalex.org/W2013467411","https://openalex.org/W2017279084","https://openalex.org/W2019366029","https://openalex.org/W2027071444","https://openalex.org/W2031835394","https://openalex.org/W2058902184","https://openalex.org/W2066878366","https://openalex.org/W2069662713","https://openalex.org/W2087999934","https://openalex.org/W2089213561","https://openalex.org/W2090696184","https://openalex.org/W2102038345","https://openalex.org/W2112036576","https://openalex.org/W2130007788","https://openalex.org/W2138983671","https://openalex.org/W2144113061","https://openalex.org/W2154006563","https://openalex.org/W2155337985","https://openalex.org/W2161047498","https://openalex.org/W2164575107","https://openalex.org/W2204882787","https://openalex.org/W2210408922","https://openalex.org/W2294798173","https://openalex.org/W2405644564","https://openalex.org/W2468050848","https://openalex.org/W2550525612","https://openalex.org/W2564447680","https://openalex.org/W2625197614","https://openalex.org/W2773698651","https://openalex.org/W2911964244","https://openalex.org/W2913066018","https://openalex.org/W3157685993","https://openalex.org/W4252521233","https://openalex.org/W6654714828"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"In":[0],"this":[1,176],"paper,":[2],"we":[3,134,174,185],"focus":[4],"on":[5,178],"the":[6,25,38,46,52,82,91,117,120,136,147,154,158,197],"formulation":[7],"of":[8,27,48,77,85,110,119,140,160,181,199],"a":[9,75,95,179],"hybrid":[10],"methodology":[11],"that":[12,153,195],"combines":[13],"analytical":[14],"models,":[15],"constrained":[16,39],"optimization":[17,40],"schemes,":[18],"and":[19,54,98,124,129,133,170,173],"machine":[20],"learning":[21,58],"techniques":[22],"to":[23,44,62,72,89],"simplify":[24],"execution":[26,159,198],"dexterous,":[28,148],"in-hand":[29,149],"manipulation":[30,55,66,86,92,122,138,163,193],"tasks":[31,164,201],"with":[32,202],"adaptive":[33,49,182,203],"robot":[34,204],"hands.":[35,183,205],"More":[36],"precisely,":[37],"scheme":[41],"is":[42,60,70,104],"used":[43,61,71,105],"describe":[45],"kinematics":[47],"hands":[50],"during":[51,146],"grasping":[53],"processes,":[56],"unsupervised":[57],"(clustering)":[59],"group":[63],"together":[64],"similar":[65],"strategies,":[67],"dimensionality":[68],"reduction":[69],"either":[73],"extract":[74],"set":[76],"representative":[78],"motion":[79,141],"primitives":[80,125],"(for":[81],"identified":[83],"groups":[84],"strategies)":[87],"or":[88],"solve":[90],"problem":[93],"in":[94],"low-d":[96],"space":[97],"finally":[99],"an":[100,188],"automated":[101,108],"experimental":[102],"setup":[103],"for":[106,126,191],"unsupervised,":[107],"collection":[109],"large":[111],"data":[112],"sets.":[113],"We":[114,151],"also":[115],"assess":[116],"capabilities":[118],"derived":[121],"models":[123,194],"both":[127],"model":[128],"everyday":[130],"life":[131],"objects,":[132],"analyze":[135],"resulting":[137],"ranges":[139],"(e.g.,":[142],"object":[143],"perturbations":[144],"achieved":[145],"manipulation).":[150],"show":[152],"proposed":[155],"methods":[156],"facilitate":[157,196],"fingertip-based,":[161],"within-hand":[162],"while":[165],"requiring":[166],"minimal":[167],"sensory":[168],"information":[169],"control":[171],"effort,":[172],"demonstrate":[175],"experimentally":[177],"range":[180],"Finally,":[184],"introduce":[186],"DexRep,":[187],"online":[189],"repository":[190],"dexterous":[192],"complex":[200]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
