{"id":"https://openalex.org/W4285140726","doi":"https://doi.org/10.1109/tcst.2022.3171655","title":"A Switched Adaptive Controller for Robotic Gripping of Novel Objects With Minimal Force","display_name":"A Switched Adaptive Controller for Robotic Gripping of Novel Objects With Minimal Force","publication_year":2022,"publication_date":"2022-05-12","ids":{"openalex":"https://openalex.org/W4285140726","doi":"https://doi.org/10.1109/tcst.2022.3171655"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2022.3171655","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2022.3171655","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5091398000","display_name":"Mushtaq Al-Mohammed","orcid":null},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mushtaq Al-Mohammed","raw_affiliation_strings":["Electrical and Computer Engineering Department, University of Central Florida (UCF), Orlando, FL, USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Central Florida (UCF), Orlando, FL, USA","institution_ids":["https://openalex.org/I106165777"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029055204","display_name":"Robson Adem","orcid":"https://orcid.org/0009-0004-9731-466X"},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]},{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robson Adem","raw_affiliation_strings":["Electrical and Computer Engineering Department, University of Central Florida (UCF), Orlando, FL, USA","Boston Dynamics, Waltham, MA, USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Central Florida (UCF), Orlando, FL, USA","institution_ids":["https://openalex.org/I106165777"]},{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021820083","display_name":"Aman Behal","orcid":"https://orcid.org/0000-0001-8458-1591"},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aman Behal","raw_affiliation_strings":["Electrical and Computer Engineering Department, NanoScience Technology Center, University of Central Florida (UCF), Orlando, FL, USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, NanoScience Technology Center, University of Central Florida (UCF), Orlando, FL, USA","institution_ids":["https://openalex.org/I106165777"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5091398000"],"corresponding_institution_ids":["https://openalex.org/I106165777"],"apc_list":null,"apc_paid":null,"fwci":0.723,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.68324276,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"31","issue":"1","first_page":"17","last_page":"26"},"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":0.9968000054359436,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.995199978351593,"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/grasp","display_name":"GRASP","score":0.8285290002822876},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6877315640449524},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.6821168661117554},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6194368600845337},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5995576977729797},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5632765889167786},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5580130219459534},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5501589775085449},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5476753115653992},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.48866942524909973},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.44845104217529297},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.44054752588272095},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4336256682872772},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3422709107398987},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30115628242492676},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12124305963516235},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11917975544929504},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11885040998458862}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8285290002822876},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6877315640449524},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.6821168661117554},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6194368600845337},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5995576977729797},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5632765889167786},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5580130219459534},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5501589775085449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5476753115653992},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.48866942524909973},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.44845104217529297},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.44054752588272095},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4336256682872772},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3422709107398987},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30115628242492676},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12124305963516235},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11917975544929504},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11885040998458862},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2022.3171655","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2022.3171655","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2611326506","display_name":null,"funder_award_id":"IIS-1527794","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6224956450","display_name":null,"funder_award_id":"IIS-1409823","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7170546716","display_name":null,"funder_award_id":"# H133G120275","funder_id":"https://openalex.org/F4320337604","funder_display_name":"National Institute on Disability, Independent Living, and Rehabilitation Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337604","display_name":"National Institute on Disability, Independent Living, and Rehabilitation Research","ror":"https://ror.org/033jnv181"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1543855788","https://openalex.org/W1992137241","https://openalex.org/W2053963447","https://openalex.org/W2057299504","https://openalex.org/W2062428734","https://openalex.org/W2068020641","https://openalex.org/W2075823253","https://openalex.org/W2109337728","https://openalex.org/W2126116355","https://openalex.org/W2131294801","https://openalex.org/W2136342353","https://openalex.org/W2221877149","https://openalex.org/W2540897439","https://openalex.org/W2737781003","https://openalex.org/W2797783354","https://openalex.org/W2803104652","https://openalex.org/W2888910271","https://openalex.org/W2891684286","https://openalex.org/W2967463212","https://openalex.org/W3002011424","https://openalex.org/W3011137165","https://openalex.org/W3093165378","https://openalex.org/W3122356792","https://openalex.org/W3135474054","https://openalex.org/W3141263189"],"related_works":["https://openalex.org/W2917225013","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2727798326","https://openalex.org/W2613999385","https://openalex.org/W2684179520","https://openalex.org/W4210583734","https://openalex.org/W4287201739","https://openalex.org/W3214990115","https://openalex.org/W2118966687"],"abstract_inverted_index":{"We":[0],"present":[1],"the":[2,28,37,45,65,71,76,85],"design":[3],"and":[4,39,55,61],"implementation":[5],"of":[6,57,73,75],"an":[7],"algorithm,":[8],"equipped":[9],"with":[10,35],"a":[11,20,50],"switched":[12],"adaptive":[13],"controller,":[14],"for":[15],"grasping":[16],"unknown":[17],"objects":[18,56,93],"using":[19,49],"robot":[21],"gripper.":[22],"A":[23],"Lyapunov-based":[24],"analysis":[25],"demonstrates":[26],"that":[27,64],"switching":[29],"controller":[30],"is":[31,80],"indeed":[32],"asymptotically":[33],"stable":[34],"both":[36],"translational":[38],"rotational":[40],"slip":[41],"velocities":[42],"converging":[43],"to":[44,83,89],"origin.":[46],"Experimental":[47],"results":[48],"novel":[51],"sensorized":[52],"gripper":[53],"prototype":[54],"different":[58],"sizes,":[59],"shapes,":[60],"weights":[62],"show":[63],"proposed":[66],"algorithm":[67],"not":[68],"only":[69],"ensures":[70],"prevention":[72],"slippage":[74],"grasped":[77],"objects,":[78],"but":[79],"also":[81],"able":[82],"apply":[84],"minimal":[86],"force":[87],"needed":[88],"safely":[90],"grasp":[91],"these":[92],"without":[94],"causing":[95],"excessive":[96],"deformation.":[97]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}