{"id":"https://openalex.org/W3045389052","doi":"https://doi.org/10.1142/s0219843620500152","title":"Reach to Grasp Planning for a Synergy-Controlled Robotic Hand based on Pesudo-Distance Formulation","display_name":"Reach to Grasp Planning for a Synergy-Controlled Robotic Hand based on Pesudo-Distance Formulation","publication_year":2020,"publication_date":"2020-07-21","ids":{"openalex":"https://openalex.org/W3045389052","doi":"https://doi.org/10.1142/s0219843620500152","mag":"3045389052"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843620500152","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843620500152","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid 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/A5100723521","display_name":"Zenghui Liu","orcid":"https://orcid.org/0000-0002-3159-7183"},"institutions":[{"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":true,"raw_author_name":"Zenghui Liu","raw_affiliation_strings":["UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai 200240, P.\u00a0R.\u00a0China"],"affiliations":[{"raw_affiliation_string":"UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai 200240, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100687556","display_name":"Yuyang Chen","orcid":"https://orcid.org/0000-0002-5606-050X"},"institutions":[{"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":"Yuyang Chen","raw_affiliation_strings":["UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai 200240, P.\u00a0R.\u00a0China"],"affiliations":[{"raw_affiliation_string":"UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai 200240, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078125284","display_name":"Xiangyang Zhu","orcid":"https://orcid.org/0000-0003-4914-6636"},"institutions":[{"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":"Xiangyang Zhu","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai 200240, P.\u00a0R.\u00a0China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai 200240, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031386469","display_name":"Kai Xu","orcid":"https://orcid.org/0000-0003-1690-3370"},"institutions":[{"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":"Kai Xu","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai 200240, P.\u00a0R.\u00a0China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Rd, Shanghai 200240, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100723521"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.0413,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.76462978,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"17","issue":"05","first_page":"2050015","last_page":"2050015"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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":0.9965999722480774,"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/grasp","display_name":"GRASP","score":0.9793565273284912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7689050436019897},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5458011627197266},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5125470161437988},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5073828101158142},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.49432921409606934},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47451964020729065},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4455375671386719},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4417508542537689},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4293254017829895},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3600921034812927},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12947717308998108},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08058056235313416}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9793565273284912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7689050436019897},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5458011627197266},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5125470161437988},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5073828101158142},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.49432921409606934},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47451964020729065},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4455375671386719},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4417508542537689},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4293254017829895},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3600921034812927},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12947717308998108},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08058056235313416},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843620500152","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843620500152","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G649678728","display_name":null,"funder_award_id":"91648103","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6716219785","display_name":null,"funder_award_id":"51722507","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6774505831","display_name":null,"funder_award_id":"51435010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1506875146","https://openalex.org/W1547679930","https://openalex.org/W1564897360","https://openalex.org/W1568865333","https://openalex.org/W1964411029","https://openalex.org/W1977117674","https://openalex.org/W2001237545","https://openalex.org/W2003354308","https://openalex.org/W2003670882","https://openalex.org/W2013947590","https://openalex.org/W2040598164","https://openalex.org/W2053741803","https://openalex.org/W2060774053","https://openalex.org/W2072749588","https://openalex.org/W2100790457","https://openalex.org/W2102038345","https://openalex.org/W2102971868","https://openalex.org/W2106215490","https://openalex.org/W2110741537","https://openalex.org/W2118040554","https://openalex.org/W2130007788","https://openalex.org/W2152247404","https://openalex.org/W2154006563","https://openalex.org/W2159044260","https://openalex.org/W2161206664","https://openalex.org/W2415645592","https://openalex.org/W2603295153","https://openalex.org/W2603546173","https://openalex.org/W2785894889","https://openalex.org/W2800140849","https://openalex.org/W2898653510","https://openalex.org/W2998266774"],"related_works":["https://openalex.org/W2657478029","https://openalex.org/W3146859979","https://openalex.org/W4224220472","https://openalex.org/W2080808138","https://openalex.org/W4387962997","https://openalex.org/W2106333554","https://openalex.org/W4385312898","https://openalex.org/W2039315115","https://openalex.org/W2104753665","https://openalex.org/W2366008286"],"abstract_inverted_index":{"In":[0,21],"the":[1,16,33,39,65,75,84,88,111,116,124,162,189,192],"past":[2],"several":[3],"years,":[4],"grasp":[5,67,112,133,146,173],"analysis":[6],"of":[7,18,94,191],"multi-fingered":[8],"robotic":[9],"hands":[10],"has":[11],"been":[12],"actively":[13],"studied":[14],"through":[15],"use":[17],"posture":[19,118],"synergies.":[20],"these":[22],"grasping":[23,76],"planning":[24,77,170],"algorithms,":[25],"a":[26,48,70,95,107,129,139,171,177],"formulated":[27],"optimization":[28,45],"is":[29,61,99,136],"usually":[30],"performed":[31],"in":[32,102,161],"hand\u2019s":[34,40,117],"low-dimensional":[35],"representation":[36],"together":[37],"with":[38,55,83,156],"position":[41,120],"and":[42,114,121,147,153],"orientation.":[43],"The":[44,132],"terminates":[46],"at":[47],"stable":[49,130],"grasp,":[50],"often":[51],"after":[52],"repeated":[53],"trials":[54],"different":[56,157],"initial":[57],"guesses.":[58],"Furthermore,":[59],"there":[60],"no":[62],"guarantee":[63],"that":[64,166],"generated":[66],"leads":[68],"to":[69,87,105,127,187],"smooth":[71],"reach-to-grasp":[72,108],"trajectory":[73],"since":[74],"process":[78],"mostly":[79],"concerns":[80],"hand":[81],"poses":[82],"fingers":[85],"proximal":[86],"object.":[89],"A":[90],"unified":[91],"theoretical":[92],"framework":[93],"gradient-based":[96],"iterative":[97],"algorithm":[98],"hence":[100],"proposed":[101,193],"this":[103],"paper":[104],"plan":[106],"task,":[109],"predicting":[110],"quality":[113,134],"adjusting":[115],"synergies,":[119],"orientation":[122],"during":[123],"approaching":[125],"phase":[126],"achieve":[128],"grasp.":[131],"measurement":[135],"adopted":[137],"from":[138],"highly":[140],"efficient":[141],"pseudo-distance":[142],"formulation.":[143],"Stable":[144],"power":[145,172],"precision":[148],"pinch":[149,178],"can":[150],"be":[151],"consistently":[152],"intentionally":[154],"planned":[155],"contact":[158],"conditions":[159],"specified":[160],"formulation,":[163],"which":[164],"means":[165],"an":[167],"intention":[168],"for":[169],"would":[174],"not":[175],"generate":[176],"result.":[179],"Several":[180],"numerical":[181],"simulation":[182],"case":[183],"studies":[184],"are":[185],"presented":[186],"demonstrate":[188],"effectiveness":[190],"algorithm.":[194]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}