{"id":"https://openalex.org/W1981667747","doi":"https://doi.org/10.1177/0278364912442972","title":"From caging to grasping","display_name":"From caging to grasping","publication_year":2012,"publication_date":"2012-04-20","ids":{"openalex":"https://openalex.org/W1981667747","doi":"https://doi.org/10.1177/0278364912442972","mag":"1981667747"},"language":"en","primary_location":{"id":"doi:10.1177/0278364912442972","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364912442972","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/A5100657505","display_name":"Alberto Rodr\u00edguez","orcid":"https://orcid.org/0000-0002-9444-3368"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alberto Rodriguez","raw_affiliation_strings":["Robotics Institute at Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute at Carnegie Mellon University, Pittsburgh , PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh , PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002872886","display_name":"Matthew T. Mason","orcid":"https://orcid.org/0000-0002-2672-5689"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew T Mason","raw_affiliation_strings":["Robotics Institute at Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute at Carnegie Mellon University, Pittsburgh , PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University, Pittsburgh , PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111952128","display_name":"Steve Ferry","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steve Ferry","raw_affiliation_strings":["Department of Mathematics at Rutgers University, Piscataway, NJ, USA","Department of Mathematics at Rutgers University, Piscataway, NJ, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics at Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Mathematics at Rutgers University, Piscataway, NJ, USA#TAB#","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100657505"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":19.3185,"has_fulltext":false,"cited_by_count":226,"citation_normalized_percentile":{"value":0.99347744,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"31","issue":"7","first_page":"886","last_page":"900"},"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":0.9941999912261963,"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/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8986750841140747},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5901244878768921},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5511887073516846},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5324110984802246},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5110834836959839},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3724033236503601},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3635193407535553},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27841752767562866},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16484704613685608}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8986750841140747},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5901244878768921},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5511887073516846},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5324110984802246},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5110834836959839},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3724033236503601},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3635193407535553},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27841752767562866},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16484704613685608},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1177/0278364912442972","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364912442972","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"},{"id":"pmh:oai:repository.cmu.edu:robotics-1831","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1831&context=robotics","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6554942","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.207.8305","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.207.8305","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.roboticsproceedings.org/rss07/p37.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.220.2297","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.220.2297","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.251.2565","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.251.2565","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2012/6/ar-rss11-ijrr-final.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.993.1309","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.993.1309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://repository.cmu.edu/cgi/viewcontent.cgi?article%3D1831%26context%3Drobotics","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W373813039","https://openalex.org/W1557324374","https://openalex.org/W1603243397","https://openalex.org/W1992830358","https://openalex.org/W2022252807","https://openalex.org/W2024575552","https://openalex.org/W2029909232","https://openalex.org/W2041064634","https://openalex.org/W2044948057","https://openalex.org/W2046178935","https://openalex.org/W2052020945","https://openalex.org/W2058912523","https://openalex.org/W2064878003","https://openalex.org/W2072149862","https://openalex.org/W2098371075","https://openalex.org/W2103189462","https://openalex.org/W2104811860","https://openalex.org/W2113428429","https://openalex.org/W2120617969","https://openalex.org/W2120940840","https://openalex.org/W2121268361","https://openalex.org/W2123967128","https://openalex.org/W2124995771","https://openalex.org/W2129451214","https://openalex.org/W2136981968","https://openalex.org/W2137933599","https://openalex.org/W2163854193","https://openalex.org/W2293722979","https://openalex.org/W2798136684","https://openalex.org/W2989259058","https://openalex.org/W4206273864","https://openalex.org/W4210993197","https://openalex.org/W4231466417","https://openalex.org/W4293203252","https://openalex.org/W4299143332"],"related_works":["https://openalex.org/W2797370380","https://openalex.org/W1549459521","https://openalex.org/W2137285860","https://openalex.org/W1879310615","https://openalex.org/W4321376912","https://openalex.org/W2786068615","https://openalex.org/W2016398835","https://openalex.org/W3185561939","https://openalex.org/W2888154659","https://openalex.org/W1910101490"],"abstract_inverted_index":{"This":[0],"paper":[1,69,170],"digs":[2],"into":[3],"the":[4,18,30,47,74,97,101,152,157,169,176],"relationship":[5],"between":[6,175],"cages":[7,21,53,56,107],"and":[8,117,123,183],"grasps":[9],"of":[10,20,32,67,100,105,120,141,159,178,185],"a":[11,131,135,139,162,165],"rigid":[12],"body.":[13],"In":[14],"particular,":[15],"it":[16,125],"considers":[17],"use":[19],"as":[22],"waypoints":[23,60],"to":[24,61,71,88,91,108,126,133,164],"grasp":[25,62],"an":[26,39,63,173],"object.":[27,64],"We":[28,95,167],"introduce":[29,145],"concept":[31],"pregrasping":[33,55,136],"cages,":[34],"caging":[35],"configurations":[36],"from":[37,161],"which":[38],"object":[40,113],"can":[41],"be":[42,134],"grasped":[43],"without":[44,115],"first":[45],"breaking":[46],"cage.":[48,137],"For":[49],"two-fingered":[50],"manipulators,":[51],"all":[52],"are":[54],"and,":[57],"consequently,":[58],"useful":[59],"A":[65,84],"contribution":[66,86],"this":[68],"is":[70,87],"show":[72,89],"that":[73,93,142,155,184],"same":[75],"does":[76],"not":[77],"hold":[78],"for":[79,130],"more":[80],"than":[81],"two":[82],"fingers.":[83],"second":[85],"how":[90],"overcome":[92],"limitation.":[94],"explore":[96],"natural":[98],"generalization":[99],"well-understood":[102],"squeezing/stretching":[103],"characterization":[104],"two-finger":[106],"arbitrary":[109,112,118],"workspace":[110],"dimension,":[111],"shapes":[114],"holes,":[116],"number":[119],"point":[121],"fingers,":[122],"exploit":[124],"give":[127],"sufficient":[128],"conditions":[129],"cage":[132,163],"As":[138],"product":[140],"generalization,":[143],"we":[144],"grasping":[146,179,182],"functions:":[147],"scalar":[148],"functions":[149,180,187],"defined":[150],"on":[151],"finger":[153],"formation":[154],"control":[156],"process":[158],"going":[160],"grasp.":[166],"finish":[168],"by":[171],"establishing":[172],"analogy":[174],"role":[177],"in":[181,188],"Lyapunov":[186],"stability":[189],"theory.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":27},{"year":2019,"cited_by_count":22},{"year":2018,"cited_by_count":27},{"year":2017,"cited_by_count":18},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}