{"id":"https://openalex.org/W2071177285","doi":"https://doi.org/10.1177/027836499601500404","title":"Contact Force Canonical Decomposition and the Role of Internal Forces in Robust Grasp Planning Problems","display_name":"Contact Force Canonical Decomposition and the Role of Internal Forces in Robust Grasp Planning Problems","publication_year":1996,"publication_date":"1996-08-01","ids":{"openalex":"https://openalex.org/W2071177285","doi":"https://doi.org/10.1177/027836499601500404","mag":"2071177285"},"language":"en","primary_location":{"id":"doi:10.1177/027836499601500404","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499601500404","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/A5012101370","display_name":"M. Aicardi","orcid":"https://orcid.org/0000-0001-6462-8815"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Michele Aicardi","raw_affiliation_strings":["DIST, University of Genova, 16145 Genova, Italy","DIST, University of Genova, 16145 Genova, Italy#TAB#"],"affiliations":[{"raw_affiliation_string":"DIST, University of Genova, 16145 Genova, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"DIST, University of Genova, 16145 Genova, Italy#TAB#","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018009472","display_name":"Giuseppe Casalino","orcid":"https://orcid.org/0000-0003-1774-4631"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Casalino","raw_affiliation_strings":["DIST, University of Genova, 16145 Genova, Italy","DIST, University of Genova, 16145 Genova, Italy#TAB#"],"affiliations":[{"raw_affiliation_string":"DIST, University of Genova, 16145 Genova, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"DIST, University of Genova, 16145 Genova, Italy#TAB#","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043106123","display_name":"Giorgio Cannata","orcid":"https://orcid.org/0000-0001-7932-5411"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Giorgio Cannata","raw_affiliation_strings":["Naval Automation Institute, C.N.R., Via De Marini 6, 16149 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Naval Automation Institute, C.N.R., Via De Marini 6, 16149 Genova, Italy","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5012101370"],"corresponding_institution_ids":["https://openalex.org/I83816512"],"apc_list":null,"apc_paid":null,"fwci":2.4875,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.88622093,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"15","issue":"4","first_page":"351","last_page":"364"},"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":0.9970999956130981,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9850999712944031,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.8976948261260986},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.6590468883514404},{"id":"https://openalex.org/keywords/internal-forces","display_name":"Internal forces","score":0.605239987373352},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5665092468261719},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5135891437530518},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5101757049560547},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.47320979833602905},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4395352005958557},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33706992864608765},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.3363233804702759},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.331434965133667},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18219920992851257},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1037946343421936}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8976948261260986},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.6590468883514404},{"id":"https://openalex.org/C2986502102","wikidata":"https://www.wikidata.org/wiki/Q4291900","display_name":"Internal forces","level":2,"score":0.605239987373352},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5665092468261719},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5135891437530518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5101757049560547},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.47320979833602905},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4395352005958557},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33706992864608765},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.3363233804702759},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.331434965133667},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18219920992851257},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1037946343421936},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836499601500404","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499601500404","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":[{"id":"https://metadata.un.org/sdg/11","score":0.7699999809265137,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W2862841","https://openalex.org/W162095921","https://openalex.org/W193909951","https://openalex.org/W1519657836","https://openalex.org/W1532977286","https://openalex.org/W1550503038","https://openalex.org/W1776683994","https://openalex.org/W1865368513","https://openalex.org/W1903830442","https://openalex.org/W1907987801","https://openalex.org/W1962587483","https://openalex.org/W1972220107","https://openalex.org/W1977186231","https://openalex.org/W2013833162","https://openalex.org/W2042163945","https://openalex.org/W2042242463","https://openalex.org/W2048517616","https://openalex.org/W2081245937","https://openalex.org/W2101915367","https://openalex.org/W2105561908","https://openalex.org/W2114568739","https://openalex.org/W2115659120","https://openalex.org/W2118935525","https://openalex.org/W2127659185","https://openalex.org/W2139028576","https://openalex.org/W2144573888","https://openalex.org/W2145392820","https://openalex.org/W2145546522","https://openalex.org/W2154631808","https://openalex.org/W2156640143","https://openalex.org/W2156765863","https://openalex.org/W2168530549","https://openalex.org/W2180140657","https://openalex.org/W2180477471","https://openalex.org/W2183414162","https://openalex.org/W2188010957","https://openalex.org/W2188244809","https://openalex.org/W2227511053","https://openalex.org/W2692900479","https://openalex.org/W2798909945"],"related_works":["https://openalex.org/W2088476797","https://openalex.org/W2102971868","https://openalex.org/W2625202073","https://openalex.org/W2168487931","https://openalex.org/W4312362134","https://openalex.org/W1926827207","https://openalex.org/W2133659289","https://openalex.org/W2154563191","https://openalex.org/W4387962997","https://openalex.org/W2797370380"],"abstract_inverted_index":{"This":[0],"article":[1],"addresses":[2],"the":[3,23,26,44,65,81],"problem":[4],"of":[5,25,64,67,83],"grasping":[6,85],"rigid":[7],"objects":[8],"us":[9],"ing":[10],"robot":[11],"hands.":[12],"A":[13],"new":[14],"formalism":[15,51],"is":[16,19,41,71,78],"presented":[17],"that":[18,29],"suitable":[20],"for":[21,80],"representing":[22],"space":[24,66],"contact":[27],"forces":[28,70],"allow":[30],"a":[31,54,60],"grasped":[32],"object":[33],"to":[34,46],"perform":[35],"an":[36,76],"assigned":[37],"motion,":[38],"and":[39,86],"emphasis":[40],"placed":[42],"on":[43],"advantages":[45],"be":[47],"gained":[48],"from":[49],"this":[50,74],"when":[52],"planning":[53],"\"robust":[55],"grasp.":[56],"\"":[57],"In":[58],"particular,":[59],"\"canoni":[61],"cal\"":[62],"represeratation":[63],"so-called":[68],"internal":[69],"given.":[72],"Within":[73],"framework,":[75],"algorithm":[77],"proposed":[79],"determination":[82],"feasible":[84],"manipulation":[87],"forces.":[88]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
