{"id":"https://openalex.org/W2160004075","doi":"https://doi.org/10.1177/02783640122067273","title":"Global Planning for Dexterous Reorientation of Rigid Objects: Finger Tracking with Rolling and Sliding","display_name":"Global Planning for Dexterous Reorientation of Rigid Objects: Finger Tracking with Rolling and Sliding","publication_year":2001,"publication_date":"2001-01-01","ids":{"openalex":"https://openalex.org/W2160004075","doi":"https://doi.org/10.1177/02783640122067273","mag":"2160004075"},"language":"en","primary_location":{"id":"doi:10.1177/02783640122067273","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640122067273","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5111445233","display_name":"Mo\u00ebz Cherif","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Mo\u00ebz Cherif","raw_affiliation_strings":["INRIA Rh\u00f4ne-Alpes, ZIRST - 655 avenue de l\u2019Europe,                         38330 Montbonnot Saint-Martin, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Rh\u00f4ne-Alpes, ZIRST - 655 avenue de l\u2019Europe,                         38330 Montbonnot Saint-Martin, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067371024","display_name":"Kamal Gupta","orcid":"https://orcid.org/0000-0002-4154-0615"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Kamal K. Gupta","raw_affiliation_strings":["Department of Engineering Science, Simon Fraser University, Burnaby,                         B.C., V5A 1S6, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Science, Simon Fraser University, Burnaby,                         B.C., V5A 1S6, Canada","institution_ids":["https://openalex.org/I18014758"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5067371024","https://openalex.org/A5111445233"],"corresponding_institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I18014758","https://openalex.org/I4210101348"],"apc_list":null,"apc_paid":null,"fwci":1.1567,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.85704259,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"20","issue":"1","first_page":"57","last_page":"84"},"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":0.9927999973297119,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9853000044822693,"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/grasp","display_name":"GRASP","score":0.6418670415878296},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6253306269645691},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5330829620361328},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5237441062927246},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.513445258140564},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5114008784294128},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4797012507915497},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.47424760460853577},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4544241726398468},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4512823522090912},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4477538764476776},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4451260268688202},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4316466450691223},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4252094030380249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24221333861351013},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21614930033683777},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08362036943435669}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6418670415878296},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6253306269645691},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5330829620361328},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5237441062927246},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.513445258140564},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5114008784294128},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4797012507915497},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.47424760460853577},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4544241726398468},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4512823522090912},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4477538764476776},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4451260268688202},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4316466450691223},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4252094030380249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24221333861351013},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21614930033683777},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08362036943435669},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783640122067273","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640122067273","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W578177376","https://openalex.org/W1549459521","https://openalex.org/W1564897360","https://openalex.org/W1574149865","https://openalex.org/W1608445995","https://openalex.org/W1691093543","https://openalex.org/W1830083427","https://openalex.org/W1839894871","https://openalex.org/W1853404069","https://openalex.org/W1906794790","https://openalex.org/W1964552838","https://openalex.org/W1971947347","https://openalex.org/W1973110886","https://openalex.org/W1978580730","https://openalex.org/W2013833162","https://openalex.org/W2017444601","https://openalex.org/W2021065900","https://openalex.org/W2048517616","https://openalex.org/W2055302917","https://openalex.org/W2058912523","https://openalex.org/W2064878003","https://openalex.org/W2101196304","https://openalex.org/W2101915367","https://openalex.org/W2105059122","https://openalex.org/W2105523521","https://openalex.org/W2120324991","https://openalex.org/W2126067183","https://openalex.org/W2127705885","https://openalex.org/W2133786899","https://openalex.org/W2135607541","https://openalex.org/W2136991536","https://openalex.org/W2140173255","https://openalex.org/W2142682608","https://openalex.org/W2146897746","https://openalex.org/W2163860044","https://openalex.org/W2165714338","https://openalex.org/W2166960375","https://openalex.org/W2438681800","https://openalex.org/W2569769452","https://openalex.org/W2625197614","https://openalex.org/W4231304701"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W2333571655","https://openalex.org/W2104320275","https://openalex.org/W3004930912","https://openalex.org/W2111158727","https://openalex.org/W1510039162","https://openalex.org/W2120794627","https://openalex.org/W2112736381","https://openalex.org/W2106317420","https://openalex.org/W2107702345"],"abstract_inverted_index":{"We":[0,19],"address":[1],"global":[2,153],"motion":[3,111],"planning":[4,112],"for":[5,101,152,164],"quasi-static":[6,80],"reorientation":[7,169],"of":[8,22,52,57,105,120,145,178],"convex":[9],"objects":[10],"(polyhedral":[11],"and":[12,67,72,79,114,136,162,175],"smooth":[13],"objects)":[14],"with":[15,74],"a":[16,23,30,117,127,132,146],"four-fingertip":[17],"grasp.":[18],"make":[20],"use":[21],"simple":[24],"humanlike":[25],"manipulation":[26],"strategy":[27],"in":[28],"which":[29],"single":[31],"finger":[32,140],"is":[33,87,99,126],"moved":[34],"at":[35,69,142],"each":[36],"instant":[37],"while":[38],"the":[39,48,53,70,75,103,106,138,143,173,176],"other":[40],"three":[41],"are":[42],"maintained":[43],"fixed":[44],"(with":[45],"regard":[46],"to":[47,150],"palm)\u2014an":[49],"extended":[50,97,139],"version":[51,61],"original":[54],"finger-tracking":[55],"scheme":[56,98],"Rus.":[58],"This":[59],"new":[60],"es":[62],"sentially":[63],"incorporates":[64],"frictional":[65,168],"rolling":[66],"sliding":[68],"fingertips":[71],"deals":[73],"related":[76],"contact":[77],"kinematics":[78],"mo":[81],"tion/force":[82],"prediction":[83],"issues.":[84],"Our":[85,123],"contribution":[86,125],"twofold.":[88],"First,":[89],"we":[90],"describe":[91],"an":[92],"analysis":[93],"showing":[94],"that":[95,129,171],"this":[96],"suitable":[100],"reducing":[102],"space":[104,119,134],"object":[107],"motions,":[108],"thereby":[109],"making":[110],"easier":[113],"operating":[115],"on":[116],"search":[118,133,151],"low":[121],"dimension.":[122],"second":[124],"planner":[128,158],"exploits":[130],"such":[131],"reduction":[135],"applies":[137],"tracking":[141],"core":[144],"multilevel":[147],"hierarchical":[148],"framework":[149],"reorien":[154],"tation":[155],"trajectories.":[156],"The":[157],"has":[159],"been":[160],"implemented":[161],"used":[163],"achieving":[165],"several":[166],"nontrivial":[167],"tasks":[170],"show":[172],"capabilities":[174],"promise":[177],"our":[179],"approach.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}