{"id":"https://openalex.org/W2099760513","doi":"https://doi.org/10.1177/027836499101000105","title":"A Case Study of Flexible Object Manipulation","display_name":"A Case Study of Flexible Object Manipulation","publication_year":1991,"publication_date":"1991-02-01","ids":{"openalex":"https://openalex.org/W2099760513","doi":"https://doi.org/10.1177/027836499101000105","mag":"2099760513"},"language":"en","primary_location":{"id":"doi:10.1177/027836499101000105","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000105","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/A5043211393","display_name":"John E. Hopcroft","orcid":"https://orcid.org/0000-0001-8681-6075"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"John E. Hopcroft","raw_affiliation_strings":["Department of Computer Science Cornell University Ithaca, New York 14853"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science Cornell University Ithaca, New York 14853","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086786774","display_name":"Joseph K. Kearney","orcid":"https://orcid.org/0000-0002-0443-8152"},"institutions":[{"id":"https://openalex.org/I126307644","display_name":"University of Iowa","ror":"https://ror.org/036jqmy94","country_code":"US","type":"education","lineage":["https://openalex.org/I126307644"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph K. Kearney","raw_affiliation_strings":["Department of Computer Science University of Iowa Iowa City, Iowa 52242","Department of Computer Science, University of Iowa, Iowa City, Iowa 52242"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science University of Iowa Iowa City, Iowa 52242","institution_ids":["https://openalex.org/I126307644"]},{"raw_affiliation_string":"Department of Computer Science, University of Iowa, Iowa City, Iowa 52242","institution_ids":["https://openalex.org/I126307644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078048495","display_name":"Dean B. Krafft","orcid":"https://orcid.org/0000-0002-8967-775X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dean B. Krafft","raw_affiliation_strings":["Department of Computer Science Comell University Ithaca, New York 1485 3"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science Comell University Ithaca, New York 1485 3","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5043211393"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":85,"citation_normalized_percentile":{"value":0.26563513,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"10","issue":"1","first_page":"41","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":0.9998000264167786,"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":0.9998000264167786,"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/T10533","display_name":"Teaching and Learning Programming","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9932000041007996,"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/rope","display_name":"Rope","score":0.777021050453186},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.640099048614502},{"id":"https://openalex.org/keywords/programmer","display_name":"Programmer","score":0.5719524621963501},{"id":"https://openalex.org/keywords/tying","display_name":"Tying","score":0.5436720848083496},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5433822274208069},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4655189514160156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46498602628707886},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.43695706129074097},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.428190678358078},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4115533232688904},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.40028226375579834},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36674654483795166},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3253737986087799},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.19936296343803406},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14766591787338257}],"concepts":[{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.777021050453186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.640099048614502},{"id":"https://openalex.org/C2778514511","wikidata":"https://www.wikidata.org/wiki/Q1374194","display_name":"Programmer","level":2,"score":0.5719524621963501},{"id":"https://openalex.org/C2780938662","wikidata":"https://www.wikidata.org/wiki/Q973710","display_name":"Tying","level":2,"score":0.5436720848083496},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5433822274208069},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4655189514160156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46498602628707886},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.43695706129074097},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.428190678358078},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4115533232688904},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.40028226375579834},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36674654483795166},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3253737986087799},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.19936296343803406},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14766591787338257},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836499101000105","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000105","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W164962600","https://openalex.org/W624101135","https://openalex.org/W1557450088","https://openalex.org/W1713376825","https://openalex.org/W1901102793","https://openalex.org/W1966881796","https://openalex.org/W1974046994","https://openalex.org/W1977030886","https://openalex.org/W2003551320","https://openalex.org/W2012608504","https://openalex.org/W2015947727","https://openalex.org/W2034469604","https://openalex.org/W2058456007","https://openalex.org/W2067063617","https://openalex.org/W2110795198","https://openalex.org/W2129973754","https://openalex.org/W2733143340","https://openalex.org/W4252387763","https://openalex.org/W6704414168"],"related_works":["https://openalex.org/W1531859508","https://openalex.org/W2998037107","https://openalex.org/W1569871744","https://openalex.org/W2379437105","https://openalex.org/W2016024526","https://openalex.org/W3139928442","https://openalex.org/W1567336638","https://openalex.org/W3124892642","https://openalex.org/W3125367266","https://openalex.org/W1654902617"],"abstract_inverted_index":{"This":[0],"article":[1],"describes":[2],"a":[3,85,93,107,115,123,137,146,172],"project":[4],"undertaken":[5],"to":[6,28,33,80,87,118],"explore":[7],"pro":[8],"gramming":[9],"physical":[10,116],"operations":[11],"on":[12,50,127,154],"complex":[13],"flexible":[14,51],"objects.":[15],"Uncertainty":[16],"about":[17],"the":[18,22,31,37,39,44,58,66,70,112,155,160,165],"exact":[19],"state":[20],"of":[21,48,73,114,132,149,159,167],"object":[23],"makes":[24],"it":[25],"im":[26],"possible":[27],"precisely":[29],"specify":[30],"actions":[32],"be":[34,54,143],"performed":[35],"at":[36],"time":[38],"program":[40,179],"is":[41,60],"written.":[42],"Furthermore,":[43],"detailed":[45],"conse":[46],"quences":[47],"manipulations":[49],"objects":[52,74],"cannot":[53],"deter":[55],"mined":[56],"before":[57],"action":[59],"performed.":[61],"Lacking":[62],"precise":[63],"specifi":[64],"cations,":[65],"programmer":[67],"must":[68],"abstract":[69,120],"essential":[71],"properties":[72],"and":[75,122,171],"actions.":[76],"In":[77],"an":[78,101,119],"effort":[79],"study":[81],"manipulation":[82],"offlexible":[83],"objects,":[84],"system":[86,99,109],"tie":[88],"knots":[89],"in":[90,145],"rope":[91,117],"with":[92,151],"robot":[94,178],"arm":[95],"was":[96],"developed.":[97],"The":[98,162],"includes":[100],"extensible":[102],"graph":[103],"representation":[104],"for":[105,177],"knots,":[106],"vision":[108],"that":[110],"binds":[111],"contour":[113],"description,":[121],"knot-tying":[124],"language":[125],"based":[126],"parametric":[128],"motion":[129],"commands.":[130],"Knots":[131],"modest":[133],"complexity,":[134],"such":[135],"as":[136],"bowline":[138],"or":[139],"figure":[140],"8,":[141],"can":[142],"tied":[144],"va":[147],"riety":[148],"ropes":[150],"minimal":[152],"constraints":[153],"initial":[156],"configu":[157],"ration":[158],"rope.":[161],"work":[163],"highlights":[164],"importance":[166],"software":[168],"engineering":[169],"principles":[170],"good":[173],"programming":[174],"en":[175],"vironment":[176],"development.":[180]},"counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":5},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}