{"id":"https://openalex.org/W7101566777","doi":"https://doi.org/10.48550/arxiv.2510.22738","title":"SCAL for Pinch-Lifting: Complementary Rotational and Linear Prototypes for Environment-Adaptive Grasping","display_name":"SCAL for Pinch-Lifting: Complementary Rotational and Linear Prototypes for Environment-Adaptive Grasping","publication_year":2025,"publication_date":"2025-10-26","ids":{"openalex":"https://openalex.org/W7101566777","doi":"https://doi.org/10.48550/arxiv.2510.22738"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2510.22738","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.22738","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2510.22738","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Guo, Wentao","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Guo, Wentao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Zhang, Wenzeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Wenzeng","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T11984","display_name":"Anatomy and Medical Technology","score":0.06260000169277191,"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"}},"topics":[{"id":"https://openalex.org/T11984","display_name":"Anatomy and Medical Technology","score":0.06260000169277191,"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/T11322","display_name":"Facial Rejuvenation and Surgery Techniques","score":0.022299999371170998,"subfield":{"id":"https://openalex.org/subfields/2708","display_name":"Dermatology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T12949","display_name":"South Asian Studies and Diaspora","score":0.0142000000923872,"subfield":{"id":"https://openalex.org/subfields/1211","display_name":"Philosophy"},"field":{"id":"https://openalex.org/fields/12","display_name":"Arts and Humanities"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.8877000212669373},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.531499981880188},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4973999857902527},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.3862000107765198},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.3458000123500824},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.33640000224113464},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.3199999928474426}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8877000212669373},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.531499981880188},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4973999857902527},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48559999465942383},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4307999908924103},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.3862000107765198},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38589999079704285},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.3458000123500824},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34470000863075256},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.33640000224113464},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.32679998874664307},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.3199999928474426},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.3174999952316284},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.30230000615119934},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.29660001397132874},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.2944999933242798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2890999913215637},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.28619998693466187},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C2778753569","wikidata":"https://www.wikidata.org/wiki/Q1960395","display_name":"Span (engineering)","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.26179999113082886}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2510.22738","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.22738","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2510.22738","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.22738","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Life in Land","score":0.431448757648468,"id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"environment-adaptive":[3,172],"pinch-lifting":[4,94],"built":[5],"on":[6,43,95,122],"a":[7,19,37,167],"slot-constrained":[8],"adaptive":[9],"linkage":[10],"(SCAL)":[11],"and":[12,35,78,93,103,127,149,157,166],"instantiated":[13],"in":[14],"two":[15],"complementary":[16,163],"fingers:":[17],"SCAL-R,":[18],"rotational-drive":[20],"design":[21,39,156],"with":[22,75,135,174],"an":[23,33,57],"active":[24,110],"fingertip":[25,63],"that":[26,40],"folds":[27],"inward":[28],"after":[29],"contact":[30,44],"to":[31,45,70,170],"form":[32],"envelope,":[34],"SCAL-L,":[36],"linear-drive":[38],"passively":[41],"opens":[42],"span":[46],"wide":[47],"or":[48,67,113],"weak-feature":[49],"objects.":[50],"Both":[51],"fingers":[52],"convert":[53],"surface":[54],"following":[55],"into":[56],"upward":[58],"lifting":[59],"branch":[60],"while":[61],"maintaining":[62],"orientation,":[64],"enabling":[65],"thin":[66],"low-profile":[68],"targets":[69],"be":[71],"raised":[72],"from":[73],"supports":[74],"minimal":[76],"sensing":[77],"control.":[79],"Two-finger":[80],"grippers":[81],"are":[82],"fabricated":[83],"via":[84,109],"PLA-based":[85],"3D":[86],"printing.":[87],"Experiments":[88],"evaluate":[89],"(i)":[90],"contact-preserving":[91],"sliding":[92],"tabletops,":[96],"(ii)":[97],"ramp":[98],"negotiation":[99],"followed":[100],"by":[101],"lift,":[102],"(iii)":[104],"handling":[105],"of":[106,120],"bulky":[107],"objects":[108],"enveloping":[111],"(SCAL-R)":[112],"contact-triggered":[114],"passive":[115],"opening":[116],"(SCAL-L).":[117],"Across":[118],"dozens":[119],"trials":[121],"small":[123],"parts,":[124],"boxes,":[125],"jars,":[126],"tape":[128],"rolls,":[129],"both":[130],"designs":[131],"achieve":[132],"consistent":[133],"grasps":[134],"limited":[136],"tuning.":[137],"A":[138],"quasi-static":[139],"analysis":[140],"provides":[141],"closed-form":[142],"fingertip-force":[143],"models":[144],"for":[145,155],"linear":[146],"parallel":[147],"pinching":[148],"two-point":[150],"enveloping,":[151],"offering":[152],"geometry-aware":[153],"guidance":[154],"operation.":[158],"Overall,":[159],"the":[160],"results":[161],"indicate":[162],"operating":[164],"regimes":[165],"practical":[168],"path":[169],"robust,":[171],"grasping":[173],"simple":[175],"actuation.":[176]},"counts_by_year":[],"updated_date":"2025-11-06T06:51:31.235846","created_date":"2025-10-29T00:00:00"}
