{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:07:57Z","timestamp":1777716477378,"version":"3.51.4"},"reference-count":63,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2014,2,12]],"date-time":"2014-02-12T00:00:00Z","timestamp":1392163200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2014,5]]},"abstract":"<jats:p>Robotic grasping of deformable objects is difficult and under-researched, not simply due to the high computational cost of modeling. More fundamentally, several issues arise with the deformation of an object being grasped: a changing wrench space, growing finger contact areas, and pointwise varying contact modes inside these areas. Consequently, contact constraints needed for deformable modeling are hardly established at the beginning of the grasping operation. This paper presents a grasping strategy that squeezes the object with two fingers under specified displacements rather than forces. A \u2018stable\u2019 squeeze minimizes the potential energy for the same amount of squeezing, while a \u2018pure\u2019 squeeze ensures that the object undergoes no rigid body motion as it deforms. Assuming linear elasticity, a finite element analysis guarantees equilibrium and the uniqueness of deformation during a squeeze action. An event-driven algorithm tracks the contact regions as well as the modes of contact in their interiors under Coulomb friction, which in turn serve as the needed constraints for deformation update. Grasp quality is characterized as the amount of work performed by the grasping fingers in resisting a known push by some adversary finger. Simulation and multiple experiments have been conducted to validate the results over solid and ring-like 2D objects.<\/jats:p>","DOI":"10.1177\/0278364913512170","type":"journal-article","created":{"date-parts":[[2014,2,13]],"date-time":"2014-02-13T00:43:02Z","timestamp":1392252182000},"page":"866-897","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":38,"title":["Grasping deformable planar objects: Squeeze, stick\/slip analysis, and energy-based optimalities"],"prefix":"10.1177","volume":"33","author":[{"given":"Yan-Bin","family":"Jia","sequence":"first","affiliation":[{"name":"Department of Computer Science, Iowa State University, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Feng","family":"Guo","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Iowa State University, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huan","family":"Lin","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Iowa State University, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2014,2,12]]},"reference":[{"key":"bibr1-0278364913512170","volume-title":"The Boundary Element Method. Volume Two: Applications in Solids and Structures","author":"Aliabadi MH","year":"2002","edition":"2"},{"key":"bibr2-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/34.121791"},{"key":"bibr3-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844081"},{"key":"bibr4-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1201\/9781439802489"},{"key":"bibr5-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.910774"},{"key":"bibr6-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351243"},{"key":"bibr7-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700802"},{"key":"bibr8-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1002\/nme.1620240302"},{"key":"bibr9-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1016\/S0747-7171(08)80013-2"},{"key":"bibr10-0278364913512170","volume-title":"An Introduction to the Mechanics of Solids","author":"Crandall SH","year":"1978","edition":"2"},{"key":"bibr11-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500302"},{"key":"bibr12-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1002\/nme.1620090410"},{"key":"bibr13-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1142\/4134"},{"key":"bibr14-0278364913512170","volume-title":"Finite Element Analysis","author":"Gallagher RH","year":"1975"},{"key":"bibr15-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905059055"},{"key":"bibr16-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631102"},{"key":"bibr17-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/ISATP.2001.929069"},{"key":"bibr18-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1364\/JOSAA.4.000629"},{"key":"bibr19-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1163\/156855394X00356"},{"key":"bibr20-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1989.99981"},{"key":"bibr21-0278364913512170","first-page":"427","volume-title":"Proceedings of the IEEE\/RSJ International conference on intelligent robots and systems","author":"Jia YB","year":"1995"},{"key":"bibr22-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980565"},{"key":"bibr23-0278364913512170","first-page":"3514","volume-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems","author":"Jia YB","year":"2013"},{"key":"bibr24-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600400401"},{"key":"bibr25-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904045469"},{"key":"bibr26-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/56.769"},{"key":"bibr27-0278364913512170","first-page":"533","volume-title":"Proceedings of the IEEE symposium on haptic interfaces for virtual environment and teleoperator systems","author":"Luo Q","year":"2006"},{"key":"bibr28-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-26455-2"},{"key":"bibr29-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800202"},{"key":"bibr30-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900102"},{"key":"bibr31-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.281944"},{"key":"bibr32-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351399"},{"key":"bibr33-0278364913512170","first-page":"137","volume-title":"Algorithmic Foundations of Robotics","author":"Mishra B","year":"1995"},{"key":"bibr34-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1007\/BF01840373"},{"key":"bibr35-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.878933"},{"key":"bibr36-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/SMI.2009.5170143"},{"key":"bibr37-0278364913512170","volume-title":"Strength of Materials","author":"Negi LS","year":"2008"},{"key":"bibr38-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700301"},{"key":"bibr39-0278364913512170","volume-title":"The Theory of Thin Shells","author":"Novozhilov VV","year":"1959"},{"key":"bibr40-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1002\/nme.1620140304"},{"key":"bibr41-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/027836499301200305"},{"key":"bibr42-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/027836499701600102"},{"key":"bibr43-0278364913512170","volume-title":"Theory and Analysis of Elastic Plates and Shells","author":"Reddy JN","year":"2007","edition":"2"},{"key":"bibr44-0278364913512170","volume-title":"Proceedings of the International symposium on robotics","author":"Remde A","year":"1999"},{"key":"bibr45-0278364913512170","volume-title":"The Kinematics of Machinery","author":"Reuleaux F","year":"1876"},{"key":"bibr46-0278364913512170","volume-title":"The Approximation of Functions","author":"Rice JR","year":"1964"},{"key":"bibr47-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066222"},{"key":"bibr48-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.506972"},{"key":"bibr49-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912442972"},{"key":"bibr50-0278364913512170","volume-title":"Elasticity: Theory and Applications","author":"Saada AS","year":"1993"},{"key":"bibr51-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1002\/nme.1620170809"},{"key":"bibr52-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642074"},{"key":"bibr53-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1115\/1.3267342"},{"key":"bibr54-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600203"},{"key":"bibr55-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/70.127235"},{"key":"bibr56-0278364913512170","volume-title":"Introduction to Linear Algebra","author":"Strang G","year":"1993","edition":"2"},{"key":"bibr57-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1007\/BF02165411"},{"key":"bibr58-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2050350"},{"key":"bibr59-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/70.163781"},{"key":"bibr60-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022066978"},{"key":"bibr61-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904041882"},{"key":"bibr62-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906064819"},{"key":"bibr63-0278364913512170","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.509219"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364913512170","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364913512170","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364913512170","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:30Z","timestamp":1777457910000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364913512170"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,2,12]]},"references-count":63,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2014,5]]}},"alternative-id":["10.1177\/0278364913512170"],"URL":"https:\/\/doi.org\/10.1177\/0278364913512170","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,2,12]]}}}