{"id":"https://openalex.org/W4379742363","doi":"https://doi.org/10.1109/tro.2023.3280028","title":"Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics","display_name":"Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics","publication_year":2023,"publication_date":"2023-06-07","ids":{"openalex":"https://openalex.org/W4379742363","doi":"https://doi.org/10.1109/tro.2023.3280028"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3280028","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3280028","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://infoscience.epfl.ch/handle/20.500.14299/198624","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086124343","display_name":"Farshad Khadivar","orcid":"https://orcid.org/0000-0003-3519-3052"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Farshad Khadivar","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory (LASA), École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3519-3052","affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory (LASA), École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7076-8010","affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.3023,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.94837563,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"39","issue":"5","first_page":"3350","last_page":"3367"},"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":0.9979000091552734,"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":0.9970999956130981,"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/synchronizing","display_name":"Synchronizing","score":0.7607700824737549},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7317909002304077},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6144255995750427},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5811970233917236},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5345069169998169},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5247528553009033},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.48736244440078735},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.46000343561172485},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4596530795097351},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4596066474914551},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.45133429765701294},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.44472137093544006},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4179909825325012},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41047632694244385},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4087090492248535},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28949683904647827},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19887873530387878},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.15298232436180115}],"concepts":[{"id":"https://openalex.org/C162932704","wikidata":"https://www.wikidata.org/wiki/Q1058791","display_name":"Synchronizing","level":3,"score":0.7607700824737549},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7317909002304077},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6144255995750427},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5811970233917236},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5345069169998169},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5247528553009033},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.48736244440078735},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.46000343561172485},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4596530795097351},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4596066474914551},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.45133429765701294},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.44472137093544006},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4179909825325012},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41047632694244385},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4087090492248535},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28949683904647827},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19887873530387878},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.15298232436180115},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2023.3280028","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3280028","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:infoscience.epfl.ch:303245","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/198624","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:303245","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/198624","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7300000190734863}],"awards":[{"id":"https://openalex.org/G8942146408","display_name":null,"funder_award_id":"741945","funder_id":"https://openalex.org/F4320334678","funder_display_name":"European Research Council"}],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W105751747","https://openalex.org/W1198461769","https://openalex.org/W1606689539","https://openalex.org/W1706124764","https://openalex.org/W1964676264","https://openalex.org/W1990470929","https://openalex.org/W2013467411","https://openalex.org/W2018860673","https://openalex.org/W2019165997","https://openalex.org/W2019366029","https://openalex.org/W2022760091","https://openalex.org/W2023944350","https://openalex.org/W2048432791","https://openalex.org/W2069662713","https://openalex.org/W2106281046","https://openalex.org/W2107153006","https://openalex.org/W2109163007","https://openalex.org/W2112036576","https://openalex.org/W2122739526","https://openalex.org/W2124194492","https://openalex.org/W2125054440","https://openalex.org/W2126701792","https://openalex.org/W2129202194","https://openalex.org/W2129629060","https://openalex.org/W2131388587","https://openalex.org/W2135537007","https://openalex.org/W2140380216","https://openalex.org/W2160004075","https://openalex.org/W2244449411","https://openalex.org/W2282481780","https://openalex.org/W2405644564","https://openalex.org/W2408464251","https://openalex.org/W2609356747","https://openalex.org/W2752997159","https://openalex.org/W2765437337","https://openalex.org/W2769339685","https://openalex.org/W2792984727","https://openalex.org/W2804941773","https://openalex.org/W2805556115","https://openalex.org/W2884325870","https://openalex.org/W2890159875","https://openalex.org/W2899771611","https://openalex.org/W2913457281","https://openalex.org/W2963199973","https://openalex.org/W2963406959","https://openalex.org/W2963411833","https://openalex.org/W2968340082","https://openalex.org/W2980714449","https://openalex.org/W2990747716","https://openalex.org/W3007398464","https://openalex.org/W3041148233","https://openalex.org/W3098436915","https://openalex.org/W3110446054","https://openalex.org/W3194733831","https://openalex.org/W3204982605","https://openalex.org/W4230379404","https://openalex.org/W4244404253","https://openalex.org/W4297795595","https://openalex.org/W4388297464","https://openalex.org/W6729653997","https://openalex.org/W6744563498","https://openalex.org/W6756040250"],"related_works":["https://openalex.org/W2359328895","https://openalex.org/W2363535981","https://openalex.org/W2007402811","https://openalex.org/W1992503747","https://openalex.org/W2326762630","https://openalex.org/W2391354408","https://openalex.org/W1986103452","https://openalex.org/W2166562438","https://openalex.org/W2371519816","https://openalex.org/W2043154226"],"abstract_inverted_index":{"We":[0,93,152,183],"present":[1,94],"a":[2,7,18,95,138,178,213],"control":[3,96],"framework":[4],"for":[5,115,190,216],"achieving":[6],"robust":[8,214],"object":[9,23,48,59,79],"grasp":[10],"and":[11,27,128,164,196],"manipulation":[12,16],"in":[13,108,122,156,177,205],"hand.":[14],"In-hand":[15],"remains":[17,60],"demanding":[19],"task":[20,28],"as":[21,83,221],"the":[22,34,47,53,58,67,73,77,105,154,186],"is":[24,86],"never":[25],"stable":[26],"success":[29],"relies":[30],"on":[31,99,159],"carefully":[32],"synchronizing":[33],"fingers'":[35],"dynamics.":[36],"Indeed,":[37],"fingers":[38,106],"must":[39],"simultaneously":[40],"generate":[41],"motion":[42],"while":[43,147],"maintaining":[44],"contact":[45],"with":[46,88,137,167,181,207],"and,":[49],"by":[50,193],"staying":[51],"within":[52],"hand's":[54],"frame,":[55],"ensuring":[56],"that":[57,142,185],"manipulable.":[61],"These":[62],"challenges":[63],"are":[64,80],"exacerbated":[65],"once":[66],"hand":[68,162],"gets":[69],"disturbed":[70],"or":[71,173],"when":[72,84],"internal":[74,194],"dynamics":[75,113,195],"of":[76],"manipulated":[78],"unknown,":[81],"such":[82,220],"it":[85],"filled":[87],"liquid":[89],"moving":[90],"during":[91],"manipulation.":[92],"strategy":[97],"based":[98],"coupled":[100],"dynamical":[101],"systems":[102],"(DSs),":[103],"whereby":[104],"move":[107],"synchronization":[109],"using":[110],"an":[111,133],"intermediate":[112],"responsible":[114],"coordinating":[116],"fingers.":[117],"To":[118],"adapt":[119],"to":[120,125,149],"changes":[121],"forces":[123],"due":[124],"model":[126],"uncertainties":[127],"unexpected":[129],"disturbances,":[130],"we":[131,200],"employ":[132],"adaptive":[134],"torque-controller":[135],"combined":[136],"joint":[139],"impedance":[140],"regulator":[141],"guarantees":[143],"high":[144],"tracking":[145],"accuracy":[146],"adapting":[148],"dynamic":[150],"changes.":[151],"validate":[153],"approach":[155],"multiple":[157],"experiments":[158],"16-degrees-of-freedom":[160],"robotic":[161],"grasping":[163],"manipulating":[165],"objects":[166],"different":[168],"mass":[169,175],"properties,":[170],"e.g.,":[171],"uneven":[172],"varying":[174],"distribution":[176],"glass":[179],"half-filled":[180],"water.":[182],"show":[184],"robot":[187],"can":[188],"compensate":[189],"disturbances":[191],"generated":[192],"external":[197],"perturbations.":[198],"Additionally,":[199],"showcase":[201],"how":[202],"our":[203],"controller,":[204],"conjunction":[206],"learning":[208],"from":[209],"human":[210],"demonstration,":[211],"provides":[212],"solution":[215],"more":[217],"complicated":[218],"manipulations":[219],"finger":[222],"gaiting.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}