{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T08:59:17Z","timestamp":1760345957309,"version":"3.38.0"},"reference-count":41,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[1996,8,1]],"date-time":"1996-08-01T00:00:00Z","timestamp":838857600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1996,8]]},"abstract":"<jats:p> This article addresses the problem of grasping rigid objects us ing robot hands. A new formalism is presented that is suitable for representing the space of the contact forces that allow a grasped object to perform an assigned motion, and emphasis is placed on the advantages to be gained from this formalism when planning a \"robust grasp. \" In particular, a \"canoni cal\" represeratation of the space of so-called internal forces is given. Within this framework, an algorithm is proposed for the determination of feasible grasping and manipulation forces. <\/jats:p>","DOI":"10.1177\/027836499601500404","type":"journal-article","created":{"date-parts":[[2007,3,5]],"date-time":"2007-03-05T01:24:06Z","timestamp":1173057846000},"page":"351-364","source":"Crossref","is-referenced-by-count":15,"title":["Contact Force Canonical Decomposition and the Role of Internal Forces in Robust Grasp Planning Problems"],"prefix":"10.1177","volume":"15","author":[{"given":"Michele","family":"Aicardi","sequence":"first","affiliation":[{"name":"DIST, University of Genova, 16145 Genova, Italy"}]},{"given":"Giuseppe","family":"Casalino","sequence":"additional","affiliation":[{"name":"DIST, University of Genova, 16145 Genova, Italy"}]},{"given":"Giorgio","family":"Cannata","sequence":"additional","affiliation":[{"name":"Naval Automation Institute, C.N.R., Via De Marini 6, 16149 Genova, Italy"}]}],"member":"179","published-online":{"date-parts":[[1996,8,1]]},"reference":[{"volume-title":"1992 IEEE Int. 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