{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,14]],"date-time":"2026-02-14T12:46:25Z","timestamp":1771073185953,"version":"3.50.1"},"publisher-location":"Cham","reference-count":24,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783319515311","type":"print"},{"value":"9783319515328","type":"electronic"}],"license":[{"start":{"date-parts":[[2017,7,27]],"date-time":"2017-07-27T00:00:00Z","timestamp":1501113600000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2018]]},"DOI":"10.1007\/978-3-319-51532-8_18","type":"book-chapter","created":{"date-parts":[[2017,7,26]],"date-time":"2017-07-26T13:56:19Z","timestamp":1501077379000},"page":"285-305","source":"Crossref","is-referenced-by-count":26,"title":["Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming"],"prefix":"10.1007","author":[{"given":"Hongkai","family":"Dai","sequence":"first","affiliation":[]},{"given":"Anirudha","family":"Majumdar","sequence":"additional","affiliation":[]},{"given":"Russ","family":"Tedrake","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2017,7,27]]},"reference":[{"issue":"1","key":"18_CR1","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1007\/s10107-002-0339-5","volume":"95","author":"F Alizadeh","year":"2003","unstructured":"Alizadeh, F., Goldfarb, D.: Second-order cone programming. Math. Program. 95(1), 3\u201351 (2003)","journal-title":"Math. Program."},{"key":"18_CR2","doi-asserted-by":"crossref","DOI":"10.1017\/CBO9780511804441","volume-title":"Convex Optimization","author":"S Boyd","year":"2004","unstructured":"Boyd, S., Vandenberghe, L.: Convex Optimization. Cambridge University Press, Cambridge (2004)"},{"issue":"6","key":"18_CR3","doi-asserted-by":"crossref","first-page":"1117","DOI":"10.1109\/TRO.2007.910774","volume":"23","author":"SP Boyd","year":"2007","unstructured":"Boyd, S.P., Wegbreit, B.: Fast computation of optimal contact forces. IEEE Trans. Robot. 23(6), 1117\u20131132 (2007)","journal-title":"IEEE Trans. Robot."},{"key":"18_CR4","unstructured":"Buss, S.R.: Introduction to inverse kinematics with jacobian transpose, pseudoinverse and damped least squares methods (2004)"},{"issue":"4","key":"18_CR5","doi-asserted-by":"crossref","first-page":"507","DOI":"10.1109\/70.246063","volume":"9","author":"I-M Chen","year":"1993","unstructured":"Chen, I.-M., Burdick, J.W.: Finding antipodal point grasps on irregularly shaped objects. IEEE Trans. Robot. Autom. 9(4), 507\u2013512 (1993)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"18_CR6","volume-title":"Introduction to Robotics: Mechanics and Control","author":"JJ Craig","year":"2005","unstructured":"Craig, J.J.: Introduction to Robotics: Mechanics and Control, 3rd edn. Pearson Education Inc, New Jersey (2005)","edition":"3"},{"key":"18_CR7","doi-asserted-by":"crossref","unstructured":"Dai, H., Valenzuela, A., Tedrake, R.: Whole-body motion planning with centroidal dynamics and full kinematics. In: IEEE-RAS International Conference on Humanoid Robots (2014)","DOI":"10.1109\/HUMANOIDS.2014.7041375"},{"key":"18_CR8","unstructured":"Fazel, M.: Matrix rank minimization with applications. Ph.D. thesis (2002)"},{"key":"18_CR9","doi-asserted-by":"crossref","unstructured":"Ferrari, C., Canny, J.: Planning optimal grasps. In: 1992 IEEE International Conference on Robotics and Automation, 1992. Proceedings, pp. 2290\u20132295. IEEE (1992)","DOI":"10.1109\/ROBOT.1992.219918"},{"issue":"6","key":"18_CR10","doi-asserted-by":"crossref","first-page":"663","DOI":"10.1109\/70.897778","volume":"16","author":"L Han","year":"2000","unstructured":"Han, L., Trinkle, J.C., Li, Z.X.: Grasp analysis as linear matrix inequality problems. IEEE Trans. Robot. Autom. 16(6), 663\u2013674 (2000)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"18_CR11","doi-asserted-by":"crossref","unstructured":"Ibaraki, S., Tomizuka, M.: Rank minimization approach for solving bmi problems with random search. In: Proceedings of the 2001. American Control Conference, 2001, vol.\u00a03, pp. 1870\u20131875. IEEE (2001)","DOI":"10.1109\/ACC.2001.946009"},{"issue":"1","key":"18_CR12","doi-asserted-by":"crossref","first-page":"295","DOI":"10.1007\/BF02187843","volume":"7","author":"D Kirkpatrick","year":"1992","unstructured":"Kirkpatrick, D., Mishra, B., Yap, C.-K.: Quantitative steinitz\u2019s theorems with applications to multifingered grasping. Discret. Comput. Geom. 7(1), 295\u2013318 (1992)","journal-title":"Discret. Comput. Geom."},{"issue":"2","key":"18_CR13","doi-asserted-by":"crossref","first-page":"146","DOI":"10.1109\/TASE.2004.836760","volume":"1","author":"G Liu","year":"2004","unstructured":"Liu, G., Xu, J., Wang, X., Li, Z.: On quality functions for grasp synthesis, fixture planning, and coordinated manipulation. IEEE Trans. Autom. Sci. Eng. 1(2), 146\u2013162 (2004)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"18_CR14","doi-asserted-by":"crossref","unstructured":"Majumdar, A., Ahmadi, A.A., Tedrake, R.: Control design along trajectories with sums of squares programming. In: Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA) (2013)","DOI":"10.1109\/ICRA.2013.6631149"},{"key":"18_CR15","unstructured":"Mishra, B.: Grasp metrics: optimality and complexity. In: Proceedings of the workshop on Algorithmic foundations of robotics, pp. 137\u2013165. AK Peters, Ltd. (1995)"},{"key":"18_CR16","unstructured":"Mosek, A.: The mosek optimization software. Online at: \nhttp:\/\/www.mosek.com\n\n, vol. 54 (2010)"},{"key":"18_CR17","volume-title":"A Mathematical Introduction to Robotic Manipulation","author":"RM Murray","year":"1994","unstructured":"Murray, R.M., Li, Z., Sastry, S.S.: A Mathematical Introduction to Robotic Manipulation. CRC Press Inc., Boca Raton (1994)"},{"issue":"3","key":"18_CR18","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1177\/027836498800700301","volume":"7","author":"V-D Nguyen","year":"1988","unstructured":"Nguyen, V.-D.: Constructing force-closure grasps. Int. J. Robot. Res. 7(3), 3\u201316 (1988)","journal-title":"Int. J. Robot. Res."},{"key":"18_CR19","unstructured":"Parrilo, P.A.: Structured Semidefinite Programs and Semialgebraic Geometry Methods in Robustness and Optimization. Ph.D. thesis, California Institute of Technology, May 18 2000"},{"issue":"4","key":"18_CR20","doi-asserted-by":"crossref","first-page":"431","DOI":"10.1177\/0278364910370218","volume":"30","author":"C Rosales","year":"2011","unstructured":"Rosales, C., Ros, L., Porta, J.M., Su\u00e1rez, R.: Synthesizing grasp configurations with specified contact regions. Int. J. Robot. Res. 30(4), 431\u2013443 (2011)","journal-title":"Int. J. Robot. Res."},{"key":"18_CR21","unstructured":"Salamin, E.: Application of quaternions to computation with rotations. Technical report, Working Paper (1979)"},{"key":"18_CR22","unstructured":"Schulman, J.D., Goldberg, K., Abbeel, P.: Grasping and fixturing as submodular coverage problems. In: International Symposium on Robotics Research, pp. 1\u201312 (2011)"},{"key":"18_CR23","doi-asserted-by":"crossref","first-page":"1038","DOI":"10.1177\/0278364910369189","volume":"29","author":"R Tedrake","year":"2010","unstructured":"Tedrake, R., Manchester, I.R., Tobenkin, M.M., Roberts, J.W.: LQR-Trees: feedback motion planning via sums of squares verification. Int. J. Robot. Res. 29, 1038\u20131052 (2010)","journal-title":"Int. J. Robot. Res."},{"key":"18_CR24","doi-asserted-by":"crossref","unstructured":"Ziegler, G.: Lectures on polytopes, vol. 152. Springer Science and Business Media (1995)","DOI":"10.1007\/978-1-4613-8431-1"}],"container-title":["Springer Proceedings in Advanced Robotics","Robotics Research"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-51532-8_18","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,7,26]],"date-time":"2017-07-26T14:01:43Z","timestamp":1501077703000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-319-51532-8_18"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,7,27]]},"ISBN":["9783319515311","9783319515328"],"references-count":24,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-51532-8_18","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"value":"2511-1256","type":"print"},{"value":"2511-1264","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,7,27]]}}}