{"id":"https://openalex.org/W2101915367","doi":"https://doi.org/10.1177/027836498900800402","title":"Grasping and Coordinated Manipulation by a Multifingered Robot Hand","display_name":"Grasping and Coordinated Manipulation by a Multifingered Robot Hand","publication_year":1989,"publication_date":"1989-08-01","ids":{"openalex":"https://openalex.org/W2101915367","doi":"https://doi.org/10.1177/027836498900800402","mag":"2101915367"},"language":"en","primary_location":{"id":"doi:10.1177/027836498900800402","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836498900800402","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/A5100784553","display_name":"Zexiang Li","orcid":"https://orcid.org/0000-0002-7920-6436"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zexiang Li","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory University of California Berkeley, California","Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory, University of California, Berkeley, California"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory University of California Berkeley, California","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory, University of California, Berkeley, California","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020456799","display_name":"Ping\u2010Yu Hsu","orcid":"https://orcid.org/0000-0002-7153-2579"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ping Hsu","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory University of California Berkeley, California","Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory, University of California, Berkeley, California"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory University of California Berkeley, California","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory, University of California, Berkeley, California","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062722286","display_name":"Shankar Sastry","orcid":"https://orcid.org/0009-0000-9021-7235"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shankar Sastry","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory University of California Berkeley, California","Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory, University of California, Berkeley, California"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory University of California Berkeley, California","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences and the Electronics Research Laboratory, University of California, Berkeley, California","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100784553"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":13.8148,"has_fulltext":false,"cited_by_count":345,"citation_normalized_percentile":{"value":0.99207555,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":"4","first_page":"33","last_page":"50"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9932000041007996,"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":0.9735999703407288,"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":0.9520350098609924},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6621417999267578},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6592408418655396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6126048564910889},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5812501907348633},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5754682421684265},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5268101692199707},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5082356333732605},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.49933695793151855},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47057077288627625},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4554027318954468},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.4437428414821625},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4429108500480652},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42397570610046387},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.41514450311660767},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.41418713331222534},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4138139486312866},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40118712186813354},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3805354833602905},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12271517515182495}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9520350098609924},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6621417999267578},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6592408418655396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6126048564910889},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5812501907348633},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5754682421684265},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5268101692199707},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5082356333732605},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.49933695793151855},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47057077288627625},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4554027318954468},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.4437428414821625},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4429108500480652},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42397570610046387},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.41514450311660767},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.41418713331222534},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4138139486312866},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40118712186813354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3805354833602905},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12271517515182495},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/027836498900800402","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836498900800402","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.hkust.edu.hk:1783.1-42063","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-42063","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7699999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1557450088","https://openalex.org/W1913694502","https://openalex.org/W1977384549","https://openalex.org/W2008731016","https://openalex.org/W2095303940","https://openalex.org/W2115659120","https://openalex.org/W2116817751","https://openalex.org/W2119685364","https://openalex.org/W2131004691","https://openalex.org/W2165521556","https://openalex.org/W2569769452"],"related_works":["https://openalex.org/W2068051639","https://openalex.org/W2050305425","https://openalex.org/W1636820063","https://openalex.org/W2098513497","https://openalex.org/W1641694943","https://openalex.org/W2124965849","https://openalex.org/W1709839925","https://openalex.org/W2775488915","https://openalex.org/W2142753802","https://openalex.org/W2188007307"],"abstract_inverted_index":{"A":[0],"new":[1],"avenue":[2],"of":[3,8,13,30,40,54,94,110,126,132,143,150,157,171],"progress":[4],"in":[5,27],"the":[6,11,28,38,51,68,73,92,107,124,127,130,133,139,144,155,158,172,177],"area":[7],"robotics":[9],"is":[10],"use":[12],"multifingered":[14],"robot":[15,33,114],"hands":[16],"for":[17,64,106],"fine":[18],"motion":[19,170],"manipulation.":[20],"This":[21,116],"paper":[22],"treats":[23],"two":[24],"fundamental":[25],"problems":[26],"study":[29],"multi":[31,112],"fingered":[32,113],"hands:":[34],"grasp":[35,55,58,75,86,152],"planning":[36,87],"and":[37,57,60,78,129,146,168],"determination":[39],"coordinated":[41,108],"control":[42,117,159],"laws":[43],"with":[44,174],"point":[45,95],"contact":[46,96],"models.":[47],"First,":[48],"we":[49,71,82,98],"develop":[50,99],"dual":[52],"notions":[53],"stability":[56],"manipulability":[59],"propose":[61],"a":[62,85,100,111],"procedure":[63],"task":[65,69],"modeling.":[66],"Using":[67],"model,":[70],"define":[72],"structured":[74],"quality":[76],"measures,":[77],"using":[79],"these":[80],"measures":[81],"then":[83],"devise":[84],"algorithm.":[88],"Second,":[89],"based":[90],"on":[91],"assumption":[93],"models,":[97],"computed":[101],"torque-like":[102],"con":[103],"trol":[104],"algorithm":[105],"manipulation":[109],"hand.":[115],"algorithm,":[118],"which":[119],"takes":[120],"into":[121],"account":[122],"both":[123,138],"dynamics":[125,131],"object":[128,145],"hand,":[134],"will":[135],"realize":[136],"simultaneously":[137],"position":[140],"trajec":[141],"tory":[142],"any":[147],"desired":[148],"value":[149],"internal":[151],"force.":[153],"Moreover,":[154],"formulation":[156],"scheme":[160],"can":[161],"be":[162],"easily":[163],"extended":[164],"to":[165,176],"allow":[166],"rolling":[167],"sliding":[169],"fingers":[173],"respect":[175],"object.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
