{"id":"https://openalex.org/W2780680391","doi":"https://doi.org/10.1109/tro.2017.2776312","title":"Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers","display_name":"Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers","publication_year":2017,"publication_date":"2017-12-25","ids":{"openalex":"https://openalex.org/W2780680391","doi":"https://doi.org/10.1109/tro.2017.2776312","mag":"2780680391"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2017.2776312","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2776312","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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":true,"oa_status":"green","oa_url":"https://escholarship.org/content/qt24t5b9vm/qt24t5b9vm.pdf?t=papziy","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088329417","display_name":"Elliot W. Hawkes","orcid":"https://orcid.org/0000-0002-0420-5025"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Elliot Wright Hawkes","raw_affiliation_strings":["University of California Santa Barbara, Santa Barbara, CA, US"],"affiliations":[{"raw_affiliation_string":"University of California Santa Barbara, Santa Barbara, CA, US","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100712109","display_name":"Hao Jiang","orcid":"https://orcid.org/0000-0003-4477-529X"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Jiang","raw_affiliation_strings":["Stanford University, Stanford, CA, US"],"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, US","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103338447","display_name":"David L. Christensen","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David L. Christensen","raw_affiliation_strings":["Stanford University, Stanford, CA, US"],"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, US","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044337518","display_name":"Amy Kyungwon Han","orcid":"https://orcid.org/0000-0001-9260-8619"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amy K. Han","raw_affiliation_strings":["Stanford University, Stanford, CA, US"],"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, US","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046683404","display_name":"Mark R. Cutkosky","orcid":"https://orcid.org/0000-0003-4730-0900"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark R. Cutkosky","raw_affiliation_strings":["Stanford University, Stanford, CA, US"],"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, US","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5088329417"],"corresponding_institution_ids":["https://openalex.org/I154570441"],"apc_list":null,"apc_paid":null,"fwci":4.8816,"has_fulltext":true,"cited_by_count":83,"citation_normalized_percentile":{"value":0.9563951,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"34","issue":"2","first_page":"303","last_page":"316"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9976999759674072,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.9835867881774902},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.602202296257019},{"id":"https://openalex.org/keywords/shear","display_name":"Shear (geology)","score":0.5252591967582703},{"id":"https://openalex.org/keywords/adhesion","display_name":"Adhesion","score":0.46130210161209106},{"id":"https://openalex.org/keywords/shear-force","display_name":"Shear force","score":0.43757563829421997},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.39327898621559143},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3618925213813782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.30723702907562256},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29972416162490845},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2701440751552582},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.12534961104393005}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9835867881774902},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.602202296257019},{"id":"https://openalex.org/C96035792","wikidata":"https://www.wikidata.org/wiki/Q43606218","display_name":"Shear (geology)","level":2,"score":0.5252591967582703},{"id":"https://openalex.org/C84416704","wikidata":"https://www.wikidata.org/wiki/Q188666","display_name":"Adhesion","level":2,"score":0.46130210161209106},{"id":"https://openalex.org/C22140971","wikidata":"https://www.wikidata.org/wiki/Q7492174","display_name":"Shear force","level":2,"score":0.43757563829421997},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.39327898621559143},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3618925213813782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.30723702907562256},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29972416162490845},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2701440751552582},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.12534961104393005},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2017.2776312","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2776312","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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"},{"id":"pmh:oai:escholarship.org:ark:/13030/qt24t5b9vm","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/24t5b9vm","pdf_url":"https://escholarship.org/content/qt24t5b9vm/qt24t5b9vm.pdf?t=papziy","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, vol 34, iss 2","raw_type":"article"},{"id":"pmh:qt24t5b9vm","is_oa":false,"landing_page_url":"http://www.escholarship.org/uc/item/24t5b9vm","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Hawkes, EW; Jiang, H; Christensen, DL; Han, AK; &amp; Cutkosky, MR. (2018). Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers. IEEE TRANSACTIONS ON ROBOTICS, 34(2), 303 - 316. doi: 10.1109/TRO.2017.2776312. UC Santa Barbara: Retrieved from: http://www.escholarship.org/uc/item/24t5b9vm","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:escholarship.org:ark:/13030/qt24t5b9vm","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/24t5b9vm","pdf_url":"https://escholarship.org/content/qt24t5b9vm/qt24t5b9vm.pdf?t=papziy","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, vol 34, iss 2","raw_type":"article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3046679514","display_name":"THE GOAL OF THIS RESEARCH IS TO INTEGRATE ADHESION-BASED GRASPING WITH CONTROL AND PLANNING TO ENABLE ASSISTIVE FREE-FLYERS TO GRASP AND MANIPULATE PAYLOADS  SUPPLIES AND TOOLS INSIDE AND OUTSIDE SPACECRAFT. THE TECHNICAL OBJECTIVES ARE: 1. DESIGN  ANALYZE  AND TEST MECHANISMS FOR GRASPING AND MANIPULATION THAT EMPLOY CONTROLLABLE ADHESION AND GRASP AND MANIPULATE PAYLOADS WITHIN SPACE VEHICLES AND ULTIMATELY IN EXTRAVEHICULAR OPERATIONS. 2. DEVISE CONTROL AND PLANNING ALGORITHMS THAT ALLOW FREE-FLYERS TO NAVIGATE ACROSS COMPLEX SPACE STRUCTURES AND GRASP AND MANIPULATE PAYLOADS WITH ADHESION-BASED APPENDAGES. 3. VALIDATE THE TECHNOLOGY FOR MANIPULATION TASKS ON A STATE-OF-THE-ART TEST BED AT STANFORD EMULATING THE MOTION OF SPHERES AND FUTURE ASTROBEES IN ZERO GRAVITY. OUR TECHNICAL APPROACH IS BASED ON GECKO-INSPIRED  CONTROLLABLE ADHESIVES THAT ARE NON-STICKY IN THE DEFAULT STATE AND ADHERE ONLY WHEN LOADED IN A CERTAIN DIRECTION. RESEARCH FROM THE INVESTIGATORS HAS DEMONSTRATED THAT SUCH ADHESIVES SCALE TO LARGE LOADS  FUNCTION IN VACUUM AND OVER A WIDE RANGE OF TEMPERATURES  AND PERFORM WELL UNDER COLLISIONS IN A VARIETY OF APPLICATIONS INCLUDING CLIMBING ROBOTS  HUMAN CLIMBING  AND PERCHING MICRO-AIR VEHICLES. IN THE PROPOSED EFFORT WE WILL DESIGN APPENDAGES WITH SPECIALIZED GRIPPERS AND WRISTS THAT LEVERAGE SUCH ADHESIVES. THE WRISTS WILL BECOME FREELY PIVOTING IF AN OVERLOAD TORQUE IS APPLIED (E.G.  IN CASE OF A COLLISION). WRISTS AND GRIPPERS  WITHOUT A FREE-FLYER  COULD ALSO BE USED BY HUMANS WHO WANT TO ATTACH CAMERAS  SENSORS OR OTHER DEVICES TO FLAT OR CURVED SURFACES. FREE-FLYERS WITH ADHESION WILL REQUIRE NOVEL ALGORITHMS FOR PLANNING AND CONTROL THAT TAKE INTO ACCOUNT THE COUPLED DYNAMICS OF THE FREE-FLYER AND THOSE OF THE END EFFECTOR  AND ALLOW THE APPENDAGES TO RELIABLY ENGAGE OR RELEASE PAYLOADS. THE APPROACH WILL BE TO TAILOR RECENT BREAKTHROUGHS BY THE INVESTIGATORS IN SPACECRAFT MOTION PLANNING  SPECIFICALLY SAMPLING-BASED KINODYNAMIC PLANNING WITH ASYMPTOTIC OPTIMALITY GUARANTEES. ADDITIONALLY  WE WILL DESIGN ADAPTIVE  MODEL PREDICTIVE CONTROL ALGORITHMS BASED ON CONVEX OPTIMIZATION THAT ALLOW PRECISE DOCKING DURING THE GRASPING AND RELEASE AND ARE ROBUST TO UNCERTAINTIES IN THE PAYLOAD'S MASS AND INERTIA. THE ALGORITHMS WILL EXPLOIT THE UNIQUE FEATURES OF CONTROLLABLE ADHESIVES  WHICH HOLD THE POTENTIAL TO CONSIDERABLY EASE MANIPULATION TASKS AS COMPARED TO CONVENTIONAL GRIPPERS THAT USE SPECIALIZED GRAPPLING FEATURES. THIS PROJECT FOCUSES ON GRASPING AND MANIPULATION WITHIN SPACE VEHICLES BUT ALSO PAVES THE WAY FOR EXTRA-VEHICULAR OPERATIONS  WHERE FEW ALTERNATIVE TECHNOLOGIES ARE EFFECTIVE. IT BRINGS TOGETHER A TEAM OF EXPERTS IN DEXTEROUS MANIPULATION  GRASPING DEVICES  MOTION PLANNING AND CONTROL  ASTRONAUTICS  AND HUMAN SPACEFLIGHT FROM STANFORD AND MIT. IT BUILDS ON NEW RESULTS THAT HAVE RECEIVED TWO BEST-PAPER AWARDS AT MAJOR ROBOTICS CONFERENCES. THIS PROPOSAL ALSO BUILDS ON A COLLABORATION WITH DR. AARON PARNESS AT JPL TO INVESTIGATE GECKO-INSPIRED ADHESIVES FOR MICRO-GRAVITY APPLICATIONS AND SPACE-READINESS. RESPONSIVENESS: THIS PROPOSAL RESPONDS TO TOPIC 1:  PAYLOAD TECHNOLOGIES FOR ASSIS- TIVE FREE-FLYERS.  IT ADDRESSES THE INTEREST FROM NASA TO DEVELOP ASSISTIVE FREE-FLYERS THAT CAN GRASP AND MANIPULATE PAYLOADS  SUPPLIES AND TOOLS INSIDE AND OUTSIDE SPACE VEHICLES. EXAMPLE TASKS INCLUDE UNPACKING AND STORING SUPPLIES  POSITIONING SENSORS AND CAMERAS  AND FETCHING TOOLS AND OTHER ITEMS FOR ASTRONAUTS. SPECIFICALLY  IT ADDRESSES TECHNOLOGIES HIGHLIGHTED IN THE 2015 NASA SPACE TECHNOLOGY ROADMAPS REPORT INCLUDING: TERRAIN ADHESION (#4.2.8.3)  GRAPPLING (#4.3.7.1)  FREE-FLOATING ROBOTS (#4.2.4.1)  AND ONBOARD TRAJECTORY PLANNING AND OPTIMIZATION ALGORITHMS (#5.4.2.3).","funder_award_id":"NNX16AD19G","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G7943334318","display_name":null,"funder_award_id":"ESI NNX16AD19G","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320307103","display_name":"Ford Motor Company","ror":"https://ror.org/00g2tkw06"},{"id":"https://openalex.org/F4320332564","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2780680391.pdf","grobid_xml":"https://content.openalex.org/works/W2780680391.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1482343016","https://openalex.org/W1515749184","https://openalex.org/W1520726269","https://openalex.org/W1881109849","https://openalex.org/W1971666595","https://openalex.org/W2002648225","https://openalex.org/W2007924815","https://openalex.org/W2018958797","https://openalex.org/W2045196859","https://openalex.org/W2046604513","https://openalex.org/W2051454159","https://openalex.org/W2057478641","https://openalex.org/W2059825294","https://openalex.org/W2070787044","https://openalex.org/W2075540032","https://openalex.org/W2081630294","https://openalex.org/W2085545845","https://openalex.org/W2090308111","https://openalex.org/W2125778968","https://openalex.org/W2129993509","https://openalex.org/W2136943970","https://openalex.org/W2139926860","https://openalex.org/W2154793826","https://openalex.org/W2154963933","https://openalex.org/W2164068699","https://openalex.org/W2169083454","https://openalex.org/W4206706389","https://openalex.org/W4210660029","https://openalex.org/W4241088297","https://openalex.org/W4247543838","https://openalex.org/W6630988379"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259","https://openalex.org/W1994276927","https://openalex.org/W2182766033","https://openalex.org/W166183798","https://openalex.org/W2565811809","https://openalex.org/W2383316265"],"abstract_inverted_index":{"Grasping":[0],"objects":[1,29,103,148],"that":[2,13,25,63,104],"are":[3,105,145],"too":[4],"large":[5],"to":[6,33,41,101],"envelop":[7],"is":[8,14,39,49],"traditionally":[9],"achieved":[10],"using":[11],"friction":[12,61],"activated":[15],"by":[16],"squeezing.":[17],"We":[18,113],"present":[19,114],"a":[20,36,60,69,150],"family":[21],"of":[22,74,83,152],"shear-activated":[23,88],"grippers":[24,144],"can":[26,95],"grasp":[27],"such":[28],"without":[30,90],"the":[31,42,75,97,117,125,134,141],"need":[32],"squeeze.":[34],"When":[35],"shear":[37,76],"force":[38,62,77],"applied":[40],"gecko-inspired":[43],"material":[44],"in":[45,54,57],"our":[46],"grippers,":[47,116],"adhesion":[48,53,66],"turned":[50],"on;":[51],"this":[52],"turn":[55],"results":[56,139],"adhesion-controlled":[58],"friction,":[59],"depends":[64],"on":[65,147],"rather":[67],"than":[68],"squeezing":[70],"normal":[71],"force.":[72],"Removal":[73],"eliminates":[78],"adhesion,":[79],"allowing":[80],"easy":[81],"release":[82],"an":[84],"object.":[85],"A":[86],"compliant":[87],"gripper":[89],"active":[91],"sensing":[92],"and":[93,124,137,156],"control":[94],"use":[96],"same":[98],"light":[99],"touch":[100],"lift":[102],"soft,":[106],"brittle,":[107],"fragile,":[108],"light,":[109],"or":[110],"very":[111],"heavy.":[112],"three":[115],"first":[118],"two":[119],"designed":[120],"for":[121,127],"curved":[122],"objects,":[123],"third":[126],"nearly":[128],"any":[129],"shape.":[130],"Simple":[131],"models":[132],"describe":[133],"grasping":[135],"process,":[136],"empirical":[138],"verify":[140],"models.":[142],"The":[143],"demonstrated":[146],"with":[149],"variety":[151],"shapes,":[153],"materials,":[154],"sizes,":[155],"weights.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
