{"id":"https://openalex.org/W7154240033","doi":"https://doi.org/10.48550/arxiv.2604.09800","title":"Kinematics of continuum planar grasping","display_name":"Kinematics of continuum planar grasping","publication_year":2026,"publication_date":"2026-04-10","ids":{"openalex":"https://openalex.org/W7154240033","doi":"https://doi.org/10.48550/arxiv.2604.09800"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.09800","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.09800","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.2604.09800","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004190839","display_name":"Udit Halder","orcid":"https://orcid.org/0000-0002-7881-2936"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Halder, Udit","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133566804","display_name":"Nicolas Echeverria Zambrano","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zambrano, Nicolas Echeverria","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5070886361","display_name":"Xincheng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xincheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"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":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.651199996471405,"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":0.651199996471405,"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":0.2858999967575073,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.024000000208616257,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/kinematics","display_name":"Kinematics","score":0.8166000247001648},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7885000109672546},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5654000043869019},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5479999780654907},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4869999885559082},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.47929999232292175},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42559999227523804},{"id":"https://openalex.org/keywords/boundary-value-problem","display_name":"Boundary value problem","score":0.4223000109195709}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8166000247001648},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7885000109672546},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5654000043869019},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5479999780654907},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5169000029563904},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4869999885559082},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.47929999232292175},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42559999227523804},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.4223000109195709},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3790999948978424},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.367000013589859},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3589000105857849},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.34880000352859497},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3416000008583069},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.31439998745918274},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.31310001015663147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.30059999227523804},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2992999851703644},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.29649999737739563},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.29179999232292175},{"id":"https://openalex.org/C9376300","wikidata":"https://www.wikidata.org/wiki/Q168817","display_name":"Algebraic number","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.25949999690055847},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25540000200271606}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.09800","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.09800","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.2604.09800","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.09800","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,55],"paper":[1],"presents":[2],"an":[3],"analytical":[4],"framework":[5],"to":[6,58,88],"study":[7],"the":[8,21,25,46,51,74,79,109,124,128,137],"geometry":[9],"arising":[10],"when":[11],"a":[12,17,39,59,114],"soft":[13],"continuum":[14,117,130],"arm":[15,22,75,91],"grasps":[16],"planar":[18],"object.":[19],"Both":[20],"centerline":[23],"and":[24,98],"object":[26,47],"boundary":[27,41,48],"are":[28,140],"modeled":[29],"as":[30,38,50,78],"smooth":[31],"curves.":[32],"The":[33,143],"grasping":[34,96],"problem":[35,85],"is":[36,86,101,121,146],"formulated":[37,87],"kinematic":[40,63],"following":[42],"problem,":[43],"in":[44,66,136],"which":[45],"acts":[49],"arm's":[52],"'shadow":[53],"curve'.":[54],"formulation":[56],"leads":[57],"set":[60],"of":[61,68,116,127],"reduced":[62],"equations":[64],"expressed":[65],"terms":[67],"relative":[69],"geometric":[70],"shape":[71],"variables,":[72],"with":[73],"curvature":[76],"serving":[77],"control":[80,84,134],"input.":[81],"An":[82],"optimal":[83,95,111],"determine":[89],"feasible":[90],"shapes":[92],"that":[93],"achieve":[94],"configurations,":[97],"its":[99],"solution":[100],"obtained":[102],"using":[103,123],"Pontryagin's":[104],"Maximum":[105],"Principle.":[106],"Based":[107],"on":[108],"resulting":[110],"grasp":[112,118,131],"kinematics,":[113],"class":[115],"quality":[119],"metrics":[120],"proposed":[122,144],"algebraic":[125],"properties":[126],"associated":[129],"map.":[132],"Feedback":[133],"aspects":[135],"dynamic":[138],"setting":[139],"also":[141],"discussed.":[142],"methodology":[145],"illustrated":[147],"through":[148],"systematic":[149],"numerical":[150],"simulations.":[151]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-15T00:00:00"}
