{"id":"https://openalex.org/W2129476164","doi":"https://doi.org/10.1163/156855305323383785","title":"Towards grasping in unstructured environments: grasper compliance and configuration optimization","display_name":"Towards grasping in unstructured environments: grasper compliance and configuration optimization","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2129476164","doi":"https://doi.org/10.1163/156855305323383785","mag":"2129476164"},"language":"en","primary_location":{"id":"doi:10.1163/156855305323383785","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855305323383785","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5004284487","display_name":"Aaron M. Dollar","orcid":"https://orcid.org/0000-0002-2409-4668"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aaron M. Dollar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5061751542","display_name":"Robert D. Howe","orcid":"https://orcid.org/0000-0002-1392-227X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Robert D. Howe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.5555,"has_fulltext":false,"cited_by_count":110,"citation_normalized_percentile":{"value":0.98831798,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"19","issue":"5","first_page":"523","last_page":"543"},"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":0.9961000084877014,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.994700014591217,"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/revolute-joint","display_name":"Revolute joint","score":0.9132223129272461},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7938675880432129},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6749135255813599},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6454547643661499},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5981015563011169},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5698484182357788},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4734888970851898},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.44023895263671875},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.43845903873443604},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4326359033584595},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.41654840111732483},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4073196053504944},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4049157202243805},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19553720951080322},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1387024223804474},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.138125479221344}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.9132223129272461},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7938675880432129},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6749135255813599},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6454547643661499},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5981015563011169},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5698484182357788},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4734888970851898},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.44023895263671875},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.43845903873443604},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4326359033584595},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.41654840111732483},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4073196053504944},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4049157202243805},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19553720951080322},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1387024223804474},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.138125479221344},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855305323383785","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855305323383785","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1520726269","https://openalex.org/W1568656855","https://openalex.org/W1607747992","https://openalex.org/W1822001265","https://openalex.org/W1891207733","https://openalex.org/W1996630649","https://openalex.org/W2008731016","https://openalex.org/W2019671454","https://openalex.org/W2038220101","https://openalex.org/W2072288830","https://openalex.org/W2098241530","https://openalex.org/W2100215309","https://openalex.org/W2100361537","https://openalex.org/W2105988443","https://openalex.org/W2111630351","https://openalex.org/W2122056155","https://openalex.org/W2147170425","https://openalex.org/W2150367199","https://openalex.org/W2165277714","https://openalex.org/W2165874678"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W2890977713","https://openalex.org/W2123089778","https://openalex.org/W1980749193","https://openalex.org/W2121886256","https://openalex.org/W2393524901","https://openalex.org/W2978007058","https://openalex.org/W3114149462","https://openalex.org/W2968113928","https://openalex.org/W4365934457"],"abstract_inverted_index":{"This":[0],"paper":[1],"examines":[2],"the":[3,57,90,93,100],"role":[4],"of":[5,26,29,56,76,92],"grasper":[6,24,58],"compliance":[7],"and":[8,16,52,68],"kinematic":[9,50],"configuration":[10,51],"in":[11,61],"environments":[12],"where":[13],"object":[14,78],"size":[15],"location":[17],"may":[18],"not":[19],"be":[20],"well":[21],"known.":[22],"A":[23],"consisting":[25],"a":[27,46,73],"pair":[28],"two-link":[30],"planar":[31],"fingers":[32],"with":[33,45],"compliant":[34],"revolute":[35],"joints":[36],"was":[37,96],"simulated":[38],"as":[39,103],"it":[40],"passively":[41],"deflected":[42],"during":[43],"contact":[44,70],"target":[47,77],"object.":[48],"The":[49],"joint":[53,95],"stiffness":[54,91],"values":[55],"were":[59],"varied":[60],"order":[62],"to":[63],"maximize":[64],"successful":[65],"grasp":[66],"range":[67,75],"minimize":[69],"forces":[71],"for":[72],"wide":[74],"size.":[79],"Joint":[80],"rest":[81],"angles":[82],"around":[83],"25\u201345":[84],"degrees":[85],"produced":[86],"near-optimal":[87],"results":[88],"if":[89],"base":[94],"much":[97],"smaller":[98],"than":[99],"intermediate":[101],"joint,":[102],"confirmed":[104],"experimentally.":[105]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":8}],"updated_date":"2026-06-25T06:16:34.145877","created_date":"2025-10-10T00:00:00"}