{"id":"https://openalex.org/W2108359815","doi":"https://doi.org/10.1109/tro.2011.2168151","title":"Dual-Fingered Stable Grasping Control for an Optimal Force Angle","display_name":"Dual-Fingered Stable Grasping Control for an Optimal Force Angle","publication_year":2011,"publication_date":"2011-10-05","ids":{"openalex":"https://openalex.org/W2108359815","doi":"https://doi.org/10.1109/tro.2011.2168151","mag":"2108359815"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2168151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2168151","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5112624683","display_name":"Seung Kwan Song","orcid":null},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung Kwan Song","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Yonsei University, Seoul, Korea","[Dept. of Electr. & Electron. Eng., Yonsei Univ., Seoul, South Korea]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Yonsei University, Seoul, Korea","institution_ids":["https://openalex.org/I193775966"]},{"raw_affiliation_string":"[Dept. of Electr. & Electron. Eng., Yonsei Univ., Seoul, South Korea]","institution_ids":["https://openalex.org/I193775966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042048616","display_name":"Jin Bae Park","orcid":null},"institutions":[{"id":"https://openalex.org/I193775966","display_name":"Yonsei University","ror":"https://ror.org/01wjejq96","country_code":"KR","type":"education","lineage":["https://openalex.org/I193775966"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jin Bae Park","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Yonsei University, Seoul, Korea","[Dept. of Electr. & Electron. Eng., Yonsei Univ., Seoul, South Korea]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Yonsei University, Seoul, Korea","institution_ids":["https://openalex.org/I193775966"]},{"raw_affiliation_string":"[Dept. of Electr. & Electron. Eng., Yonsei Univ., Seoul, South Korea]","institution_ids":["https://openalex.org/I193775966"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028632274","display_name":"Yoon Ho Choi","orcid":"https://orcid.org/0000-0001-6831-4450"},"institutions":[{"id":"https://openalex.org/I28615091","display_name":"Kyonggi University","ror":"https://ror.org/032xf8h46","country_code":"KR","type":"education","lineage":["https://openalex.org/I28615091"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yoon Ho Choi","raw_affiliation_strings":["Department of Electronic Engineering, Kyonggi University, Suwon, Korea","Dept. of Electron. Eng., Kyonggi Univ., Suwon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Kyonggi University, Suwon, Korea","institution_ids":["https://openalex.org/I28615091"]},{"raw_affiliation_string":"Dept. of Electron. Eng., Kyonggi Univ., Suwon, South Korea","institution_ids":["https://openalex.org/I28615091"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2542,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.92533526,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"28","issue":"1","first_page":"256","last_page":"262"},"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":0.9988999962806702,"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":0.9936000108718872,"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/slipping","display_name":"Slipping","score":0.9105876684188843},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7575383186340332},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6990399956703186},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6187304854393005},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6172580718994141},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5743152499198914},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5158114433288574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5131159424781799},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45609936118125916},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4149578809738159},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3365914821624756},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32217809557914734},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3189108967781067},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3051062226295471},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13156697154045105}],"concepts":[{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.9105876684188843},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7575383186340332},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6990399956703186},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6187304854393005},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6172580718994141},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5743152499198914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5158114433288574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5131159424781799},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45609936118125916},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4149578809738159},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3365914821624756},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32217809557914734},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3189108967781067},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3051062226295471},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13156697154045105},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2011.2168151","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2168151","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1587166818","https://openalex.org/W1978580730","https://openalex.org/W1988501169","https://openalex.org/W2008164063","https://openalex.org/W2012470115","https://openalex.org/W2014972957","https://openalex.org/W2050609926","https://openalex.org/W2055302917","https://openalex.org/W2066475868","https://openalex.org/W2098253469","https://openalex.org/W2105300774","https://openalex.org/W2109352166","https://openalex.org/W2112036576","https://openalex.org/W2112308206","https://openalex.org/W2119822520","https://openalex.org/W2125773737","https://openalex.org/W2126701792","https://openalex.org/W2134075441","https://openalex.org/W2138639946","https://openalex.org/W2145805305","https://openalex.org/W2153573756","https://openalex.org/W2156258552","https://openalex.org/W2168530549","https://openalex.org/W2169991067","https://openalex.org/W2170167261","https://openalex.org/W4241717370","https://openalex.org/W6675614230","https://openalex.org/W6676329268"],"related_works":["https://openalex.org/W2389377526","https://openalex.org/W4249963983","https://openalex.org/W2108779689","https://openalex.org/W2068051639","https://openalex.org/W3004284873","https://openalex.org/W2975200075","https://openalex.org/W2124664807","https://openalex.org/W4321376912","https://openalex.org/W1563441844","https://openalex.org/W3185561939"],"abstract_inverted_index":{"In":[0,46],"this":[1],"paper,":[2],"we":[3,95],"propose":[4],"a":[5],"control":[6],"method":[7],"for":[8],"stable":[9],"grasp":[10],"of":[11,21,30,35,42,60,77,85,103],"dual-fingered":[12],"robots":[13],"with":[14],"rigid":[15],"hemispherical":[16],"fingertips.":[17],"The":[18],"main":[19],"contribution":[20],"the":[22,28,31,36,40,43,49,55,58,69,75,82,86,90,101,104],"proposed":[23,87,105],"approach":[24],"is":[25,51,63,72],"to":[26,53,99],"lower":[27],"probability":[29],"object":[32,62],"slipping":[33],"out":[34],"fingertips":[37],"as":[38,66,68],"optimizing":[39],"angle":[41],"grasping":[44],"force.":[45],"addition,":[47],"since":[48],"controller":[50,88],"allowed":[52],"use":[54],"tactile":[56],"sensor,":[57],"shape":[59],"an":[61],"not":[64],"limited,":[65],"long":[67],"contact":[70],"point":[71],"positioned":[73],"on":[74],"vicinity":[76],"smooth":[78],"curvatures.":[79],"We":[80],"prove":[81],"stability":[83],"analysis":[84],"via":[89],"Lyapunov":[91],"direct":[92],"method.":[93],"Finally,":[94],"present":[96],"simulation":[97],"results":[98],"validate":[100],"effectiveness":[102],"approach.":[106]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
