{"entities":{"Q2298533":{"pageid":2309276,"ns":120,"title":"Item:Q2298533","lastrevid":71792160,"modified":"2026-04-14T00:34:14Z","type":"item","id":"Q2298533","labels":{"en":{"language":"en","value":"Grasping torque optimization for a dexterous robotic hand using the linearization of constraints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7170950"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$955C6D29-B25C-4852-B16C-4E22BA353D39","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"0de7282e1860cb59d352e734453e621c911529d4","datavalue":{"value":{"text":"Grasping torque optimization for a dexterous robotic hand using the linearization of constraints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2298533$F4CA4176-1F2E-4388-BB25-18DD8EDA46CE","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"81a9cfaa23c1d81c7a53ac198678ab9be8bd2049","datavalue":{"value":"1435.90144","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298533$BA7F457F-EC40-4427-ADE5-BDF69039C922","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"9da207b479c7a54825ea9aaae3c765c4c9526ab0","datavalue":{"value":"10.1155/2019/5235109","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298533$4ED4DCD1-4800-4645-882E-CA9F5D04E0A5","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"cc45e6b9322bed7360e4aac2a42f8c73614b44f3","datavalue":{"value":{"entity-type":"item","numeric-id":1787138,"id":"Q1787138"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$149B016E-7651-4CC6-ADB2-682246669D3D","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$6E081334-D6D7-43A1-85EA-200279C2DAC0","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"24486b0c9c2f4867c6ded703b21ce26ee6b26916","datavalue":{"value":{"time":"+2020-02-20T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2298533$6B4C510D-AF04-4EEE-B99C-5C1A5B92C2F7","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"b8bb193bbfb3ecc4c7e7c754b84bc456c27d6df8","datavalue":{"value":"Summary: A new algorithm is proposed for the optimization of grasping torques. Previous work revealed that the optimization of the contact force can be simplified as a linear programming problem by replacing the nonlinear friction cone with a polyhedral cone. On this basis, further simplification and linearization is completed for various grasp contact constraints of the grasping system, and an optimization model is established with the minimum sum-of-squares of joint torques as an objective function. A timely and effective algorithm based on key constraint sets is then established. This methodology optimizes the joint torque directly and facilitates the control of the dexterous hand. A numerical example and experimental results show that the optimization algorithm has high precision and good real-time performance. The joint torque output obtained using the proposed algorithm was 27.6\\% lower than the result of the previous algorithm. The optimization algorithm can thus be used for optimal grasping control of a dexterous hand.","type":"string"},"datatype":"string"},"type":"statement","id":"Q2298533$767444C0-AF67-4B83-8D4D-C44E839D05ED","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"4ac3edbc9a781214f87fc7c9c04c2c17e13b7ca7","datavalue":{"value":"90C51","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298533$E61A9F05-1A52-4D8B-8FF7-037437F48B74","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298533$945437A0-B11C-48E4-80C7-8C22A0AF3BD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"843de71235f44a800ae389e1734df6bb7650efec","datavalue":{"value":"65K10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298533$96685C93-AB00-4DD8-9CF7-07220B34F4D0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298533$3F324F35-1E37-42C9-BB30-B5C88B4DE6D3","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"c5ab4f1b59930cb2372a23864995b62665dbbb18","datavalue":{"value":"7170950","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298533$5214AAFF-EC69-4D40-9623-1AC13552099C","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$C2AB189F-9DC4-42F5-A3D3-0F7C0F30EBDC","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"39194e3aaa73ead2cc7585a6e7ba05e07a8f9ae7","datavalue":{"value":"https://doi.org/10.1155/2019/5235109","type":"string"},"datatype":"url"},"type":"statement","id":"Q2298533$F2C84E61-7362-4CA8-BBE0-63CE27244D40","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"2124c2d6dd0659eb6dd199d97bc61d80da9eea25","datavalue":{"value":"W2989964336","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2298533$E7BDABBC-952C-4F5A-B18C-C5F18882404A","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"0defe178e50035f3bd64a6018a68fbb01aa74417","datavalue":{"value":{"entity-type":"item","numeric-id":2507251,"id":"Q2507251"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$9BC98014-FF4A-444B-9AD5-250D2AF6ABAA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5746076b918d1dea4a702f65446ceca9655b01e2","datavalue":{"value":{"entity-type":"item","numeric-id":747043,"id":"Q747043"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$12158080-B2C5-4E7E-9CE4-F63D52464924","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f08ec9312f8a0d0a0108209d20d24733e173042d","datavalue":{"value":{"entity-type":"item","numeric-id":2353476,"id":"Q2353476"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$CFD191A7-A9A4-4FAD-BB0C-7FBE6C0A7897","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6f2646546f4853add0cc818076df5fe35ea4f45d","datavalue":{"value":{"entity-type":"item","numeric-id":1706679,"id":"Q1706679"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$E6CECFC6-2ADE-4B11-99CE-3048B36C53D3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2cab27ef3b933b05fb185dd6a934b49b82afac57","datavalue":{"value":{"entity-type":"item","numeric-id":4599843,"id":"Q4599843"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$8DE78149-645E-4FF8-A738-32CE2574DB84","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6745f4d326fa18f701ce710ca149e04f26e5ba51","datavalue":{"value":{"entity-type":"item","numeric-id":429451,"id":"Q429451"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$54C1D5C8-8BEC-4D30-B4F5-C522E0E864A9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c4f64f40e9ea9ff07f1d2cc3f75115b31adfa405","datavalue":{"value":{"entity-type":"item","numeric-id":726145,"id":"Q726145"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$7D69FC86-A0D1-4F3B-8034-3DEAC6DD8462","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"07e9dee78a29ca956b88808618b1665054916129","datavalue":{"value":{"entity-type":"item","numeric-id":3735235,"id":"Q3735235"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$289D5854-3BA6-4E3E-A0C6-0E62A7C9BDFC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5d490033db3aa8e75302fa6d1d3e79f27b079802","datavalue":{"value":{"entity-type":"item","numeric-id":4229077,"id":"Q4229077"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$3BFA14A5-630B-4FB1-A7E6-1E27A7A4F8D8","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"92aa9cce50a32737ad883a2e3cf81df17fd9c102","datavalue":{"value":{"entity-type":"item","numeric-id":1706679,"id":"Q1706679"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"afa2617d3d2a9e166e10ca6a2842bc73c93a0ecd","datavalue":{"value":{"amount":"+0.7794797420501709","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2298533$6B4E94D3-9C28-4301-9E1E-91991AAE26F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c9e0591edb8fcebf76e57f3034ecdcbae5f92001","datavalue":{"value":{"entity-type":"item","numeric-id":2275328,"id":"Q2275328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b6075a352e717eef8044ae1d274fdac95809a2c9","datavalue":{"value":{"amount":"+0.7654851675033569","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2298533$12B6E7AD-E5C0-4D53-87FA-D6295A996DEF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"88381542c0ffce747ce4c0ae3f9bab7bc32610c6","datavalue":{"value":{"entity-type":"item","numeric-id":4926658,"id":"Q4926658"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7134045fd93ef398f0e550414110b28973e5b819","datavalue":{"value":{"amount":"+0.7637690305709839","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2298533$2E05E17D-F068-4D5A-8AF1-AF4CCD58BB52","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"74afced50161b7f05ec7530763947d0126c6000e","datavalue":{"value":{"entity-type":"item","numeric-id":866304,"id":"Q866304"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"14cbc282f6c80e18a62df4943dcda14dee4af062","datavalue":{"value":{"amount":"+0.7563668489456177","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2298533$F00D7151-36E3-49E9-AAD2-9A03873FD8B6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"34dbaa1c2fd6ab0c64aa6c3120bb5837d896f369","datavalue":{"value":{"entity-type":"item","numeric-id":1761270,"id":"Q1761270"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"22460f7ce58e8ca67dc361da2c3d9a31cfe099f7","datavalue":{"value":{"amount":"+0.7341619729995728","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2298533$8649E8D2-96B9-4E77-9254-1F69FC075218","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2298533$EA437309-2DC3-4CAD-947E-228EB3D8FE49","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Grasping torque optimization for a dexterous robotic hand using the linearization of constraints","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Grasping_torque_optimization_for_a_dexterous_robotic_hand_using_the_linearization_of_constraints"}}}}}