{"id":"https://openalex.org/W4396812840","doi":"https://doi.org/10.3390/robotics13050074","title":"Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures","display_name":"Automated Grasp Planning and Finger Design Space Search Using Multiple Grasp Quality Measures","publication_year":2024,"publication_date":"2024-05-09","ids":{"openalex":"https://openalex.org/W4396812840","doi":"https://doi.org/10.3390/robotics13050074"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13050074","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/robotics13050074","pdf_url":"https://www.mdpi.com/2218-6581/13/5/74/pdf?version=1715333432","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/13/5/74/pdf?version=1715333432","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051172866","display_name":"Roshan Kumar Hota","orcid":"https://orcid.org/0000-0002-4008-9551"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Roshan Kumar Hota","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel, 1050 Brussels, Belgium","Flanders Make, 1050 Brussels, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-4008-9551","affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Flanders Make, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026703570","display_name":"Gaoyuan Liu","orcid":"https://orcid.org/0000-0002-9063-2751"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Gaoyuan Liu","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel, 1050 Brussels, Belgium","IMEC, 1050 Brussels, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-9063-2751","affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"IMEC, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049131109","display_name":"Bieke Decraemer","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bieke Decraemer","raw_affiliation_strings":["CodesignS, 3001 Leuven, Belgium","Flanders Make, 1050 Brussels, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-1335-7768","affiliations":[{"raw_affiliation_string":"CodesignS, 3001 Leuven, Belgium","institution_ids":[]},{"raw_affiliation_string":"Flanders Make, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097335559","display_name":"Barry Swevels","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Barry Swevels","raw_affiliation_strings":["CodesignS, 3001 Leuven, Belgium","Flanders Make, 1050 Brussels, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CodesignS, 3001 Leuven, Belgium","institution_ids":[]},{"raw_affiliation_string":"Flanders Make, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024502370","display_name":"Sofie Burggraeve","orcid":"https://orcid.org/0000-0002-8758-1455"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Sofie Burggraeve","raw_affiliation_strings":["CodesignS, 3001 Leuven, Belgium","Flanders Make, 1050 Brussels, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CodesignS, 3001 Leuven, Belgium","institution_ids":[]},{"raw_affiliation_string":"Flanders Make, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080620663","display_name":"Tom Verstraten","orcid":"https://orcid.org/0000-0001-7398-5398"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Tom Verstraten","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel, 1050 Brussels, Belgium","Flanders Make, 1050 Brussels, Belgium"],"raw_orcid":"https://orcid.org/0000-0001-7398-5398","affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Flanders Make, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010914606","display_name":"Bram Vanderborght","orcid":"https://orcid.org/0000-0003-4881-9341"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bram Vanderborght","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel, 1050 Brussels, Belgium","IMEC, 1050 Brussels, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-4881-9341","affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"IMEC, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012437779","display_name":"Greet Van de Perre","orcid":"https://orcid.org/0000-0001-6648-6056"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Greet Van de Perre","raw_affiliation_strings":["Brubotics, Vrije Universiteit Brussel, 1050 Brussels, Belgium","IMEC, 1050 Brussels, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brubotics, Vrije Universiteit Brussel, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"IMEC, 1050 Brussels, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5051172866"],"corresponding_institution_ids":["https://openalex.org/I13469542","https://openalex.org/I4210116480"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.6056,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65445026,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"13","issue":"5","first_page":"74","last_page":"74"},"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":0.9908000230789185,"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":0.9581999778747559,"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":0.9757779836654663},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.7488006949424744},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.746380090713501},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5410349369049072},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4868118464946747},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47948774695396423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47259458899497986},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.46138718724250793},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4051145315170288},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37189817428588867},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12246739864349365},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12085756659507751}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9757779836654663},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.7488006949424744},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.746380090713501},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5410349369049072},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4868118464946747},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47948774695396423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47259458899497986},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46138718724250793},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4051145315170288},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37189817428588867},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12246739864349365},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12085756659507751},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics13050074","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/robotics13050074","pdf_url":"https://www.mdpi.com/2218-6581/13/5/74/pdf?version=1715333432","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:dd5e11793f4142cc84e85c11609aa632","is_oa":true,"landing_page_url":"https://doaj.org/article/dd5e11793f4142cc84e85c11609aa632","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 5, p 74 (2024)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/13/5/74/","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13050074","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:174585","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/automated-grasp-planning-and-finger-design-space-search-using-multiple-grasp-quality-measures(f79ada30-6d45-4e51-8b13-823f8e26a509).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"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":"publishedVersion"}],"best_oa_location":{"id":"doi:10.3390/robotics13050074","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/robotics13050074","pdf_url":"https://www.mdpi.com/2218-6581/13/5/74/pdf?version=1715333432","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6399999856948853}],"awards":[{"id":"https://openalex.org/G5009533139","display_name":null,"funder_award_id":"2020-0985 - FROGS-CONV-ICON","funder_id":"https://openalex.org/F4320319799","funder_display_name":"Flanders Make"}],"funders":[{"id":"https://openalex.org/F4320319799","display_name":"Flanders Make","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4396812840.pdf"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W2033246370","https://openalex.org/W2061343052","https://openalex.org/W2088043683","https://openalex.org/W2099841506","https://openalex.org/W2109163007","https://openalex.org/W2116817751","https://openalex.org/W2118737809","https://openalex.org/W2130527101","https://openalex.org/W2132476906","https://openalex.org/W2155337985","https://openalex.org/W2165494931","https://openalex.org/W2167455001","https://openalex.org/W2533621232","https://openalex.org/W2560020008","https://openalex.org/W2600030077","https://openalex.org/W2613419974","https://openalex.org/W2781597081","https://openalex.org/W2783346462","https://openalex.org/W2904985412","https://openalex.org/W2908665589","https://openalex.org/W2910474428","https://openalex.org/W2964239605","https://openalex.org/W3005933886","https://openalex.org/W3009950119","https://openalex.org/W3091810466","https://openalex.org/W3101302771","https://openalex.org/W3206600280","https://openalex.org/W4214570817","https://openalex.org/W4231930796","https://openalex.org/W4281774516","https://openalex.org/W4284899062","https://openalex.org/W4312748212","https://openalex.org/W4319990504","https://openalex.org/W4327590725","https://openalex.org/W4376851361","https://openalex.org/W4389666523","https://openalex.org/W6638325340","https://openalex.org/W6677766441"],"related_works":["https://openalex.org/W2975514431","https://openalex.org/W3090651099","https://openalex.org/W847404441","https://openalex.org/W4312985843","https://openalex.org/W2583647647","https://openalex.org/W2971446651","https://openalex.org/W2613999385","https://openalex.org/W2000145385","https://openalex.org/W1974072120","https://openalex.org/W3082835097"],"abstract_inverted_index":{"As":[0],"the":[1,8,48,79,83,88,97,102,106,109,113,118,124,156,159,168,171],"industry":[2],"shifts":[3],"to":[4,73,86],"automated":[5,32],"manufacturing":[6],"and":[7,35,70,111,117,155],"assembly":[9],"of":[10,24,91,105,142,170],"parts":[11,40],"in":[12,158],"smaller":[13],"batches,":[14],"there":[15],"is":[16,179,186],"a":[17,29,92,127,131],"clear":[18],"need":[19],"for":[20,31,38,52,126,181],"an":[21],"efficient":[22],"design":[23,37,94,174],"grippers.":[25],"This":[26],"paper":[27],"presents":[28],"method":[30,100,125,138],"grasp":[33,43,89,115,129,148,178],"planning":[34],"finger":[36,120,163,173],"multiple":[39],"using":[41],"four":[42],"quality":[44,149],"measures":[45],"that":[46],"capture":[47],"following":[49],"important":[50],"requirements":[51],"grasping:":[53],"(i)":[54],"uniform":[55],"contact":[56],"force":[57],"distribution;":[58],"(ii)":[59],"better":[60],"gravity":[61],"wrench":[62,77],"resistance;":[63],"(iii)":[64],"robustness":[65],"against":[66],"gripper":[67],"positioning":[68],"error;":[69],"(iv)":[71],"ability":[72],"resist":[74],"larger":[75,184],"external":[76],"on":[78,139,152],"object.":[80],"We":[81,122,135],"introduce":[82],"fingertip":[84,93,160],"score":[85,161],"quantify":[87],"performance":[90],"over":[95],"all":[96],"objects.":[98,143],"The":[99,176],"takes":[101],"CAD":[103],"model":[104],"objects":[107,154,183],"as":[108],"input":[110],"outputs":[112],"optimal":[114,172],"location":[116],"best":[119],"design.":[121,164],"use":[123],"three-point":[128,177],"with":[130,162,188],"parallel":[132],"jaw":[133],"gripper.":[134],"validate":[136],"our":[137],"two":[140],"sets":[141],"Results":[144],"show":[145],"how":[146],"each":[147],"measure":[150],"behaves":[151],"different":[153],"variation":[157],"Finally,":[165],"we":[166],"test":[167],"effectiveness":[169],"experimentally.":[175],"suitable":[180],"grasping":[182],"than":[185],"possible":[187],"shape-matching":[189],"fingertips.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-19T08:33:51.333923","created_date":"2025-10-10T00:00:00"}