{"id":"https://openalex.org/W3037368970","doi":"https://doi.org/10.1177/0278364920929082","title":"Quasi-static analysis of planar sliding using friction patches","display_name":"Quasi-static analysis of planar sliding using friction patches","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3037368970","doi":"https://doi.org/10.1177/0278364920929082","mag":"3037368970"},"language":"en","primary_location":{"id":"pmh:oai:usiena-air.unisi.it:11365/1112418","is_oa":false,"landing_page_url":"http://hdl.handle.net/11365/1112418","pdf_url":null,"source":{"id":"https://openalex.org/S4377196319","display_name":"Use Siena air (University of Siena)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102064193","host_organization_name":"University of Siena","host_organization_lineage":["https://openalex.org/I102064193"],"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":"info:eu-repo/semantics/article"},"type":"article","indexed_in":[],"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/A5018190451","display_name":"M. Mahdi Ghazaei Ardakani","orcid":"https://orcid.org/0000-0002-4713-1003"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Ghazaei Ardakani, M. M.","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT), Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060894383","display_name":"Jo\u00e3o Bimbo","orcid":"https://orcid.org/0000-0002-4720-9026"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Bimbo, J.","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT), Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056137946","display_name":"Domenico Prattichizzo","orcid":"https://orcid.org/0000-0001-9051-9698"},"institutions":[{"id":"https://openalex.org/I102064193","display_name":"University of Siena","ror":"https://ror.org/01tevnk56","country_code":"IT","type":"education","lineage":["https://openalex.org/I102064193"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Prattichizzo, D.","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT), Italy","Department of Information Engineering, University of Siena, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT), Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Information Engineering, University of Siena, Italy","institution_ids":["https://openalex.org/I102064193"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018190451"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.339,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.80409619,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.9987000226974487,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7506296634674072},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6595796942710876},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6069064736366272},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5736601948738098},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5341889262199402},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5251907110214233},{"id":"https://openalex.org/keywords/prehensile-tail","display_name":"Prehensile tail","score":0.4917052388191223},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.43989208340644836},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4363560378551483},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3518206775188446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3039589524269104},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.27016815543174744},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22596243023872375},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2179650068283081},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12467768788337708},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.09904003143310547}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7506296634674072},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6595796942710876},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6069064736366272},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5736601948738098},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5341889262199402},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5251907110214233},{"id":"https://openalex.org/C136380597","wikidata":"https://www.wikidata.org/wiki/Q10508905","display_name":"Prehensile tail","level":2,"score":0.4917052388191223},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.43989208340644836},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4363560378551483},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3518206775188446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3039589524269104},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.27016815543174744},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22596243023872375},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2179650068283081},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12467768788337708},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.09904003143310547},{"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"pmh:oai:usiena-air.unisi.it:11365/1112418","is_oa":false,"landing_page_url":"http://hdl.handle.net/11365/1112418","pdf_url":null,"source":{"id":"https://openalex.org/S4377196319","display_name":"Use Siena air (University of Siena)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102064193","host_organization_name":"University of Siena","host_organization_lineage":["https://openalex.org/I102064193"],"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":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G8270204289","display_name":null,"funder_award_id":"H2020-ICT-645599","funder_id":"https://openalex.org/F4320338475","funder_display_name":"H2020 LEIT Information and Communication Technologies"}],"funders":[{"id":"https://openalex.org/F4320338475","display_name":"H2020 LEIT Information and Communication Technologies","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1489844845","https://openalex.org/W1588961771","https://openalex.org/W1776391213","https://openalex.org/W2020251869","https://openalex.org/W2021011998","https://openalex.org/W2050211019","https://openalex.org/W2050708324","https://openalex.org/W2086983719","https://openalex.org/W2098030884","https://openalex.org/W2099951169","https://openalex.org/W2127642969","https://openalex.org/W2143123448","https://openalex.org/W2149175962","https://openalex.org/W2175523265","https://openalex.org/W2582998992","https://openalex.org/W2609356747","https://openalex.org/W2735421171","https://openalex.org/W2791516632","https://openalex.org/W2811267071","https://openalex.org/W2962851896","https://openalex.org/W2963030226","https://openalex.org/W2964208980"],"related_works":["https://openalex.org/W2552641899","https://openalex.org/W2768832826","https://openalex.org/W2028231052","https://openalex.org/W2465876097","https://openalex.org/W3166169123","https://openalex.org/W2010045274","https://openalex.org/W2105329304","https://openalex.org/W197901881","https://openalex.org/W2179405771","https://openalex.org/W2024629026"],"abstract_inverted_index":{"Flat":[0],"objects":[1],"lying":[2],"on":[3],"a":[4,20,36,43,53,58,67,90,98],"surface":[5,18],"are":[6,94,130,160],"hard":[7],"to":[8,34,39,45,96,102,120,135,149],"grasp,":[9],"but":[10],"could":[11],"be":[12,82],"manipulated":[13],"by":[14,28,64,146],"sliding":[15,63],"along":[16],"the":[17,40,104,107,110,117,121,140,143,147],"in":[19],"non-prehensile":[21],"manner.":[22],"This":[23],"strategy":[24],"is":[25,133],"commonly":[26],"employed":[27],"humans":[29],"as":[30,154,156],"pre-manipulation,":[31],"for":[32,84,115],"example":[33],"bring":[35],"cell":[37],"phone":[38],"edge":[41],"of":[42,61,66,75,106,139],"table":[44],"pick":[46],"it":[47,129],"up.":[48],"To":[49],"endow":[50],"robots":[51],"with":[52],"similar":[54],"capability,":[55],"we":[56,93],"introduce":[57],"mathematical":[59],"model":[60,71],"planar":[62],"means":[65],"soft":[68],"finger.":[69],"The":[70,113],"reveals":[72],"various":[73],"aspects":[74],"interaction":[76,111],"through":[77],"frictional":[78],"contacts,":[79],"which":[80,116],"can":[81],"used":[83],"planning":[85],"and":[86,109,142],"control.":[87],"Specifically,":[88],"using":[89],"quasi-static":[91],"analysis":[92],"able":[95],"derive":[97],"hybrid":[99],"dynamical":[100],"system":[101,141],"predict":[103],"motion":[105],"object":[108,118,148],"forces.":[112],"conditions":[114],"sticks":[119],"friction":[122],"patch,":[123],"pivots,":[124],"or":[125],"completely":[126],"slides":[127],"against":[128],"obtained.":[131],"It":[132],"possible":[134],"find":[136],"fixed":[137],"points":[138],"path":[144],"taken":[145],"reach":[150],"such":[151],"configurations.":[152],"Theoretical":[153],"well":[155],"comprehensive":[157],"experimental":[158],"results":[159],"presented.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2020-07-02T00:00:00"}
