{"id":"https://openalex.org/W4225131973","doi":"https://doi.org/10.1109/robosoft54090.2022.9762182","title":"In-Hand Manipulation with Soft Fingertips","display_name":"In-Hand Manipulation with Soft Fingertips","publication_year":2022,"publication_date":"2022-04-04","ids":{"openalex":"https://openalex.org/W4225131973","doi":"https://doi.org/10.1109/robosoft54090.2022.9762182"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft54090.2022.9762182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-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/A5013335218","display_name":"Soheil Sarabandi","orcid":"https://orcid.org/0000-0002-2103-1610"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Soheil Sarabandi","raw_affiliation_strings":["Institut de Robòtica i Informàtica Industrial (CSIC-UPC),Barcelona,Spain,08028"],"affiliations":[{"raw_affiliation_string":"Institut de Robòtica i Informàtica Industrial (CSIC-UPC),Barcelona,Spain,08028","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060316330","display_name":"Qiujie Lu","orcid":"https://orcid.org/0000-0001-8581-2021"},"institutions":[{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Qiujie Lu","raw_affiliation_strings":["Dyson School of Design Engineering, Imperial College London,REDS Lab,London,UK,SW7 2DB"],"affiliations":[{"raw_affiliation_string":"Dyson School of Design Engineering, Imperial College London,REDS Lab,London,UK,SW7 2DB","institution_ids":["https://openalex.org/I47508984","https://openalex.org/I4210089887"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012109138","display_name":"Genliang Chen","orcid":"https://orcid.org/0000-0002-1011-2116"},"institutions":[{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Genliang Chen","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical Systems and Vibration and the Shanghai Key Laboratory of Digital Manufacture for Thin Walled Structures,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical Systems and Vibration and the Shanghai Key Laboratory of Digital Manufacture for Thin Walled Structures,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074396060","display_name":"Nicol\u00e1s Rojas","orcid":"https://orcid.org/0000-0001-5988-9180"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]},{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nicolas Rojas","raw_affiliation_strings":["Dyson School of Design Engineering, Imperial College London,REDS Lab,London,UK,SW7 2DB"],"affiliations":[{"raw_affiliation_string":"Dyson School of Design Engineering, Imperial College London,REDS Lab,London,UK,SW7 2DB","institution_ids":["https://openalex.org/I47508984","https://openalex.org/I4210089887"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5013335218"],"corresponding_institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03023043,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"483","last_page":"489"},"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":0.9969000220298767,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9865000247955322,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8889318704605103},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.8103532195091248},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6224848628044128},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5409857034683228},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5174003839492798},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.49421265721321106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4737818241119385},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.428524374961853},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1915629506111145},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14019247889518738}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8889318704605103},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8103532195091248},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6224848628044128},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5409857034683228},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5174003839492798},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.49421265721321106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4737818241119385},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.428524374961853},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1915629506111145},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14019247889518738},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robosoft54090.2022.9762182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/95936","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/95936","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Soft Robotics","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G5248536531","display_name":null,"funder_award_id":"51875334","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5940893824","display_name":null,"funder_award_id":"PID2020-117509GB-100 and MDM-2016-0656","funder_id":"https://openalex.org/F4320321837","funder_display_name":"Ministerio de Econom\u00eda y Competitividad"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321837","display_name":"Ministerio de Econom\u00eda y Competitividad","ror":"https://ror.org/034900433"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1568656855","https://openalex.org/W1570945417","https://openalex.org/W2016232724","https://openalex.org/W2027146712","https://openalex.org/W2031367600","https://openalex.org/W2032745455","https://openalex.org/W2052381362","https://openalex.org/W2061364557","https://openalex.org/W2077052097","https://openalex.org/W2102737109","https://openalex.org/W2107231906","https://openalex.org/W2118972876","https://openalex.org/W2121033336","https://openalex.org/W2140173255","https://openalex.org/W2144333659","https://openalex.org/W2148332394","https://openalex.org/W2158394537","https://openalex.org/W2290095957","https://openalex.org/W2469087037","https://openalex.org/W2928676521","https://openalex.org/W2990747716","https://openalex.org/W6682296046"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2056483949","https://openalex.org/W2657478029","https://openalex.org/W4248427955","https://openalex.org/W2626503888","https://openalex.org/W2037306763","https://openalex.org/W2080808138","https://openalex.org/W4387962997","https://openalex.org/W2129483190"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"an":[3,21,89],"approach":[4],"for":[5,92],"solving":[6],"the":[7,13,50,76,136],"in-hand":[8,66],"manipulation":[9,67],"problem,":[10],"that":[11],"is,":[12],"change":[14],"of":[15,65,78,125],"a":[16,25,56,98,120],"grasped":[17,99],"object":[18,100],"pose":[19],"from":[20],"initial":[22,51],"configuration":[23],"to":[24,58,96],"final":[26],"one":[27],"without":[28,104],"breaking":[29],"contact,":[30],"with":[31,40,68,115,119,128],"robot":[32,122],"fingers":[33,83,127],"having":[34],"out-of-plane":[35,129],"motion,":[36,130],"redundancy,":[37],"and":[38,84,87,109,139],"equipped":[39],"soft":[41,69,79,113],"fingertips.":[42],"The":[43],"proposed":[44],"technique":[45],"is":[46],"based":[47],"on":[48],"keeping":[49],"grasp":[52,106],"equilibrium":[53],"condition":[54],"as":[55],"constraint":[57],"resolve":[59],"finger":[60],"redundancy.":[61],"Two":[62],"important":[63],"aspects":[64],"fingertips":[70,114],"are":[71,131],"then":[72],"studied;":[73],"namely:":[74],"i)":[75],"modeling":[77],"fingertip":[80],"contacts":[81],"between":[82,101],"3D":[85],"objects,":[86],"ii)":[88],"efficient":[90],"method":[91],"computing":[93],"joint":[94],"angles":[95],"move":[97],"different":[102,116],"poses":[103],"losing":[105],"equilibrium.":[107],"Numerical":[108],"empirical":[110],"experiments":[111],"using":[112],"shore":[117],"hardnesses":[118],"two-fingered":[121],"hand,":[123],"composed":[124],"four-degree-of-freedom":[126],"conducted.":[132],"Results":[133],"successfully":[134],"validate":[135],"introduced":[137],"strategy":[138],"its":[140],"components.":[141]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}