{"id":"https://openalex.org/W2106010048","doi":"https://doi.org/10.1109/icma.2009.5244922","title":"Efficient grasp planning using continuous collision detection","display_name":"Efficient grasp planning using continuous collision detection","publication_year":2009,"publication_date":"2009-08-01","ids":{"openalex":"https://openalex.org/W2106010048","doi":"https://doi.org/10.1109/icma.2009.5244922","mag":"2106010048"},"language":"en","primary_location":{"id":"doi:10.1109/icma.2009.5244922","doi":"https://doi.org/10.1109/icma.2009.5244922","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icma.2009.5244922","pdf_url":null,"source":{"id":"https://openalex.org/S4306419667","display_name":"International Conference on Mechatronics and Automation","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 International Conference on Mechatronics and Automation","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108373596","display_name":"Zhixing Xue","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zhixing Xue","raw_affiliation_strings":["Forschungszentrum Informatik, Karlsruhe, Germany","Forschungszentrum Informatik, Haid-und-Neu-Str. 10-14, 76137 Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Forschungszentrum Informatik, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Forschungszentrum Informatik, Haid-und-Neu-Str. 10-14, 76137 Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057359845","display_name":"Philip Woerner","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Philip Woerner","raw_affiliation_strings":["Forschungszentrum Informatik, Karlsruhe, Germany","Forschungszentrum Informatik, Haid-und-Neu-Str. 10-14, 76137 Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Forschungszentrum Informatik, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Forschungszentrum Informatik, Haid-und-Neu-Str. 10-14, 76137 Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072057705","display_name":"J. Marius Zoellner","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Marius Zoellner","raw_affiliation_strings":["Forschungszentrum Informatik, Karlsruhe, Germany","Forschungszentrum Informatik, Haid-und-Neu-Str. 10-14, 76137 Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Forschungszentrum Informatik, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Forschungszentrum Informatik, Haid-und-Neu-Str. 10-14, 76137 Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004964717","display_name":"Ruediger Dillmann","orcid":"https://orcid.org/0000-0002-2049-8219","observed_orcids":["https://orcid.org/0000-0002-2049-8219"]},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ruediger Dillmann","raw_affiliation_strings":["Forschungszentrum Informatik, Karlsruhe, Germany","Forschungszentrum Informatik, Haid-und-Neu-Str. 10-14, 76137 Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Forschungszentrum Informatik, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Forschungszentrum Informatik, Haid-und-Neu-Str. 10-14, 76137 Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":1.4365,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.78010294,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":93},"biblio":{"volume":"1","issue":null,"first_page":"2752","last_page":"2758"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9965999722480774,"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":0.9965999722480774,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0005000000237487257,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.00039999998989515007,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp-planning","display_name":"grasp planning","score":0.9779999852180481},{"id":"https://openalex.org/keywords/continuous-collision-detection","display_name":"continuous collision detection","score":0.8870000243186951},{"id":"https://openalex.org/keywords/multi-fingered-robotic-hand","display_name":"multi-fingered hand","score":0.890999972820282},{"id":"https://openalex.org/keywords/pick-and-place","display_name":"pick-and-place","score":0.7590000033378601},{"id":"https://openalex.org/keywords/bounding-boxes","display_name":"bounding boxes","score":0.6150000095367432},{"id":"https://openalex.org/keywords/ray-intersection","display_name":"ray intersection","score":0.6420000195503235}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.95220947265625},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.8085514307022095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7414100766181946},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.6775848865509033},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6446805000305176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5979960560798645},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5780062675476074},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.5441805124282837},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5166000127792358},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4900892972946167},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4404239058494568},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39379268884658813},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3267959654331207},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06373006105422974},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icma.2009.5244922","doi":"https://doi.org/10.1109/icma.2009.5244922","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icma.2009.5244922","pdf_url":null,"source":{"id":"https://openalex.org/S4306419667","display_name":"International Conference on Mechatronics and Automation","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 International Conference on Mechatronics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W282686812","https://openalex.org/W1497683200","https://openalex.org/W1510186039","https://openalex.org/W1964523947","https://openalex.org/W1974451141","https://openalex.org/W1993827762","https://openalex.org/W1999597131","https://openalex.org/W2079872371","https://openalex.org/W2093596804","https://openalex.org/W2096143679","https://openalex.org/W2118262422","https://openalex.org/W2125483852","https://openalex.org/W2126496149","https://openalex.org/W2129112982","https://openalex.org/W2132086397","https://openalex.org/W2132454917","https://openalex.org/W2149729559","https://openalex.org/W2151001101","https://openalex.org/W2156219259","https://openalex.org/W2156886697","https://openalex.org/W2172108647","https://openalex.org/W2500119201","https://openalex.org/W3181488183"],"related_works":["https://openalex.org/W2132086397","https://openalex.org/W2959298711","https://openalex.org/W2154563191","https://openalex.org/W2738290492","https://openalex.org/W2139350418","https://openalex.org/W2031744771","https://openalex.org/W2579648831","https://openalex.org/W2155841413","https://openalex.org/W2037882812","https://openalex.org/W2131361746"],"abstract_inverted_index":{"Grasp":[0],"planning":[1,49,134],"for":[2,47,71,132,139],"multifingered":[3],"robotic":[4,96,113],"hand":[5,33,61,114],"is":[6,13,56,106],"still":[7],"time":[8],"consuming.":[9],"The":[10],"crucial":[11],"part":[12],"to":[14,23,29,42,79,88,108,129,135,149],"find":[15,136,150],"the":[16,25,32,44,81,84,90,120,184,187],"contact":[17],"points":[18],"with":[19,37,103,160,167,178],"collision":[20,45,101],"detection":[21,46,102],"techniques":[22],"evaluate":[24],"grasp":[26,48,133],"quality":[27],"and":[28,63,115,124,142,172],"guarantee":[30],"that":[31,92],"does":[34],"not":[35],"collide":[36],"other":[38],"objects.":[39,116],"Our":[40],"methods":[41],"accelerate":[43],"are":[50,68,93,127,146],"presented":[51],"in":[52,58,174,181],"this":[53],"paper.":[54],"Grasping":[55],"performed":[57],"two":[59,170],"steps:":[60],"moving":[62,112],"finger":[64,85],"closing.":[65],"Finger":[66],"links":[67],"a-priori":[69],"known":[70],"both":[72,140],"steps.":[73],"We":[74,155],"use":[75],"precomputed":[76],"bounding":[77],"boxes":[78],"bound":[80],"extent":[82],"of":[83,186],"links'":[86],"motion":[87],"cull":[89],"objects":[91],"far":[94],"from":[95],"hand.":[97],"A":[98],"state-of-the-art":[99],"continuous":[100],"conservative":[104],"advancement":[105],"integrated":[107],"detect":[109],"collisions":[110],"between":[111],"For":[117],"pick-and-place":[118],"operation":[119],"environments":[121],"by":[122,125],"grasping":[123,153,163,173],"placing":[126],"merged":[128],"one":[130,168],"environment":[131],"collision-free":[137],"grasps":[138],"pick":[141],"place.":[143],"Ray":[144],"intersections":[145],"further":[147],"used":[148],"out":[151],"hidden":[152],"directions.":[154],"have":[156],"tested":[157],"our":[158],"approach":[159],"three":[161],"experiments:":[162],"a":[164],"standalone":[165],"object":[166],"hand,":[169],"hands":[171],"complex":[175],"environment.":[176],"Results":[177],"four-fingered":[179],"SAHands":[180],"simulation":[182],"show":[183],"efficiency":[185],"introduced":[188],"methods.":[189]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2016-06-24T00:00:00"}
