{"id":"https://openalex.org/W3003295650","doi":"https://doi.org/10.1145/3352593.3352594","title":"A solid mechanics approach to robotic grasp analysis","display_name":"A solid mechanics approach to robotic grasp analysis","publication_year":2019,"publication_date":"2019-07-02","ids":{"openalex":"https://openalex.org/W3003295650","doi":"https://doi.org/10.1145/3352593.3352594","mag":"3003295650"},"language":"en","primary_location":{"id":"doi:10.1145/3352593.3352594","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3352593.3352594","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Advances in Robotics 2019","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/A5018500715","display_name":"S. J. Dharbaneshwer","orcid":"https://orcid.org/0000-0003-3188-6169"},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"education","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Dharbaneshwer S. J.","raw_affiliation_strings":["Indian Institute of Technology, Madras"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology, Madras","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033384130","display_name":"Asokan Thondiyath","orcid":"https://orcid.org/0000-0002-5474-3999"},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"education","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Asokan Thondiyath","raw_affiliation_strings":["Indian Institute of Technology, Madras"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology, Madras","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103054603","display_name":"Sankara J. Subramanian","orcid":"https://orcid.org/0000-0002-0642-8126"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sankara J. Subramanian","raw_affiliation_strings":["PhotoGauge India Pvt. Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PhotoGauge India Pvt. Ltd","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3372,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61879387,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9947999715805054,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9860000014305115,"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/wrench","display_name":"Wrench","score":0.9693644046783447},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9557483196258545},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6270196437835693},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.583078145980835},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5555732250213623},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4944632053375244},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45949816703796387},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4582144618034363},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4159359335899353},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40039992332458496},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21573147177696228},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17087724804878235},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13957983255386353},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09999534487724304}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.9693644046783447},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9557483196258545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6270196437835693},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.583078145980835},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5555732250213623},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4944632053375244},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45949816703796387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4582144618034363},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4159359335899353},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40039992332458496},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21573147177696228},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17087724804878235},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13957983255386353},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09999534487724304},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3352593.3352594","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3352593.3352594","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Advances in Robotics 2019","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1606226685","https://openalex.org/W1794703952","https://openalex.org/W1995414376","https://openalex.org/W2031367600"],"related_works":["https://openalex.org/W2975514431","https://openalex.org/W3090651099","https://openalex.org/W847404441","https://openalex.org/W2971446651","https://openalex.org/W2000145385","https://openalex.org/W1974072120","https://openalex.org/W2219151122","https://openalex.org/W3082835097","https://openalex.org/W1969497836","https://openalex.org/W2088476797"],"abstract_inverted_index":{"Wrench":[0],"space":[1,10,91],"formulations":[2],"and":[3,45,53,62,97,155],"grasp":[4,103,109,169,177],"quality":[5],"measures":[6],"based":[7,111],"on":[8,112,168],"wrench":[9,90],"are":[11,28,48,56],"widely":[12],"used":[13,29],"in":[14,30,33,78,88,131],"robotics":[15],"community":[16],"to":[17,35,50,94],"evaluate":[18],"the":[19,37,43,46,54,72,85,89,108,113,126,133,161,174],"stability":[20,110,134,170],"of":[21,68,71,116,128,135,146,150,163,166],"robotic":[22,136],"grasps.":[23],"However,":[24],"many":[25],"simplifying":[26],"assumptions":[27,96],"this":[31,81],"approach":[32],"order":[34],"make":[36],"analysis":[38,92],"feasible.":[39],"For":[40],"example,":[41],"both":[42],"object":[44,149,167],"hand":[47],"assumed":[49],"be":[51],"rigid":[52],"contacts":[55],"represented":[57],"by":[58,75],"their":[59],"resultant":[60],"forces":[61],"moments":[63],"(wrenches),":[64],"as":[65],"a":[66,99,121],"result":[67],"which":[69,106],"most":[70,175],"grasps":[73,137],"identified":[74,179],"them":[76],"fail":[77],"experiments.":[79],"In":[80],"work,":[82],"we":[83,124,158],"discuss":[84],"discrepancies":[86],"present":[87],"due":[93],"these":[95],"propose":[98],"Finite":[100],"Element":[101],"(FE)-based":[102],"synthesis":[104],"methodology,":[105],"evaluates":[107],"well-established":[114],"foundations":[115],"deformable":[117],"solid":[118],"mechanics.":[119],"Using":[120],"spring-mass-damper":[122],"model,":[123],"demonstrate":[125],"versatility":[127],"our":[129,181],"FE-framework":[130],"analyzing":[132],"during":[138,171],"external":[139],"perturbation.":[140,172],"By":[141],"performing":[142],"several":[143],"FE":[144],"simulations":[145],"grasping":[147],"an":[148],"different":[151],"masses,":[152],"squeeze":[153],"displacements":[154],"friction":[156],"coefficients,":[157],"then":[159],"study":[160],"influence":[162],"physical":[164],"characteristics":[165],"Finally,":[173],"stable":[176],"is":[178],"using":[180],"contact":[182],"area-based":[183],"metric,":[184],"\u03c0.":[185]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
