{"id":"https://openalex.org/W4213182441","doi":"https://doi.org/10.1109/access.2022.3153071","title":"Optimal Grasping Strategy for Robots With a Parallel Gripper Based on Feature Sensing of 3D Object Model","display_name":"Optimal Grasping Strategy for Robots With a Parallel Gripper Based on Feature Sensing of 3D Object Model","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4213182441","doi":"https://doi.org/10.1109/access.2022.3153071"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3153071","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3153071","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09718097.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09718097.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052518335","display_name":"Hsin\u2010Han Chiang","orcid":"https://orcid.org/0000-0003-0795-0490"},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Hsin-Han Chiang","raw_affiliation_strings":["Department of Vehicle Engineering, National Taipei University of Technology, Taipei City, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Vehicle Engineering, National Taipei University of Technology, Taipei City, Taiwan","institution_ids":["https://openalex.org/I118292597"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013940756","display_name":"Jiun-Kai You","orcid":null},"institutions":[{"id":"https://openalex.org/I134161618","display_name":"National Taiwan Normal University","ror":"https://ror.org/059dkdx38","country_code":"TW","type":"education","lineage":["https://openalex.org/I134161618"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jiun-Kai You","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan Normal University, Taipei City, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan Normal University, Taipei City, Taiwan","institution_ids":["https://openalex.org/I134161618"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089173534","display_name":"Chen\u2010Chien Hsu","orcid":"https://orcid.org/0000-0002-3697-8401"},"institutions":[{"id":"https://openalex.org/I134161618","display_name":"National Taiwan Normal University","ror":"https://ror.org/059dkdx38","country_code":"TW","type":"education","lineage":["https://openalex.org/I134161618"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chen-Chien James Hsu","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan Normal University, Taipei City, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan Normal University, Taipei City, Taiwan","institution_ids":["https://openalex.org/I134161618"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048681988","display_name":"Jun Jo","orcid":"https://orcid.org/0000-0002-3099-2712"},"institutions":[{"id":"https://openalex.org/I11701301","display_name":"Griffith University","ror":"https://ror.org/02sc3r913","country_code":"AU","type":"education","lineage":["https://openalex.org/I11701301"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jun Jo","raw_affiliation_strings":["School of Information and Communication Technology, Griffith University, Southport, QLD, Australia"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication Technology, Griffith University, Southport, QLD, Australia","institution_ids":["https://openalex.org/I11701301"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5052518335"],"corresponding_institution_ids":["https://openalex.org/I118292597"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.6072,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.64308967,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"10","issue":null,"first_page":"24056","last_page":"24066"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9739000201225281,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8729279041290283},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7991373538970947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7000607848167419},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6535148620605469},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6312691569328308},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6174211502075195},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6120148301124573},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5781402587890625},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5738202333450317},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.5140339136123657},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.49357855319976807},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4180573523044586},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4102151095867157},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12095558643341064}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8729279041290283},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7991373538970947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7000607848167419},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6535148620605469},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6312691569328308},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6174211502075195},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6120148301124573},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5781402587890625},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5738202333450317},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.5140339136123657},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.49357855319976807},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4180573523044586},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4102151095867157},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12095558643341064},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2022.3153071","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3153071","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09718097.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:020d98f6ce2848b494e9190e1f79e6e8","is_oa":true,"landing_page_url":"https://doaj.org/article/020d98f6ce2848b494e9190e1f79e6e8","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 24056-24066 (2022)","raw_type":"article"},{"id":"pmh:oai:research-repository.griffith.edu.au:10072/421262","is_oa":true,"landing_page_url":"http://hdl.handle.net/10072/421262","pdf_url":null,"source":{"id":"https://openalex.org/S4306402548","display_name":"Griffith Research Online (Griffith University, Queensland, Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11701301","host_organization_name":"Griffith University","host_organization_lineage":["https://openalex.org/I11701301"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3153071","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3153071","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09718097.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2205640134","display_name":null,"funder_award_id":"MOST 109","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G2884910486","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320322724","funder_display_name":"Ministry of Education, India"},{"id":"https://openalex.org/G3365722850","display_name":null,"funder_award_id":"MOST 10","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G3862518167","display_name":null,"funder_award_id":"MOST 109-","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G3957823792","display_name":null,"funder_award_id":"MOST 109-2634-F-003-007","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G7160539585","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G7665327885","display_name":null,"funder_award_id":"MOST 109-2634-F-003-006 and Grant MOST 109-2634-F-","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G777136678","display_name":null,"funder_award_id":"MOST 109-2634-F-003-006","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320322724","display_name":"Ministry of Education, India","ror":"https://ror.org/048xjjh50"},{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"},{"id":"https://openalex.org/F4320323837","display_name":"National Taiwan Normal University","ror":"https://ror.org/059dkdx38"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4213182441.pdf","grobid_xml":"https://content.openalex.org/works/W4213182441.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1526868886","https://openalex.org/W2036637075","https://openalex.org/W2069254292","https://openalex.org/W2076363786","https://openalex.org/W2118262422","https://openalex.org/W2123435073","https://openalex.org/W2165603175","https://openalex.org/W2570319460","https://openalex.org/W2600030077","https://openalex.org/W2889969363","https://openalex.org/W2904113001","https://openalex.org/W2962737955","https://openalex.org/W2963177347","https://openalex.org/W2967068439","https://openalex.org/W2986303149","https://openalex.org/W2999821079","https://openalex.org/W3000575545","https://openalex.org/W3026108605","https://openalex.org/W3034986117","https://openalex.org/W3044584059","https://openalex.org/W3092022274","https://openalex.org/W3102256368","https://openalex.org/W3125270004","https://openalex.org/W3130506077","https://openalex.org/W3135664767","https://openalex.org/W3158072063","https://openalex.org/W3207888596","https://openalex.org/W4243794628","https://openalex.org/W6634138237","https://openalex.org/W6791388315"],"related_works":["https://openalex.org/W4312985843","https://openalex.org/W2583647647","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259","https://openalex.org/W1640559846","https://openalex.org/W3148362106","https://openalex.org/W3004847491","https://openalex.org/W2157923049","https://openalex.org/W2889998688"],"abstract_inverted_index":{"Grasping":[0],"strategy":[1,118],"of":[2,6,15,109,138,152,166],"many":[3,21],"different":[4],"kinds":[5],"target":[7,48,122],"objects":[8,93,123],"is":[9,38],"vital":[10],"in":[11,150,170,178],"a":[12,25,29,80],"wide":[13],"range":[14],"automatic":[16],"robotic":[17,36,71,175],"manipulations.":[18],"Among":[19],"the":[20,32,47,66,70,74,91,102,133,139,144,148,157,164,167,174,180],"potential":[22],"applications":[23],"for":[24,35],"robot":[26],"arm":[27],"with":[28,121,124],"parallel":[30],"gripper,":[31],"key":[33],"challenge":[34],"grasping":[37,43,103,117,134,153],"to":[39,46,63,95,119],"determine":[40],"an":[41,115],"optimal":[42,116],"pose":[44],"relative":[45],"object.":[49,75],"Previous":[50],"works":[51,177],"based":[52,127],"on":[53,128,156],"2D":[54],"grasp":[55,58],"and":[56,73,87,98,105],"6-Dof":[57],"planning":[59],"have":[60],"been":[61],"proposed":[62,145,168],"efficiently":[64],"consider":[65],"physical":[67],"contact":[68],"between":[69],"gripper":[72],"However,":[76],"there":[77],"are":[78],"still":[79],"few":[81],"unsolved":[82],"problems":[83],"caused":[84],"by":[85],"partial":[86],"limited":[88],"information":[89],"about":[90],"detected":[92],"due":[94],"their":[96,129],"locations":[97],"geometries":[99],"that":[100,143],"reduce":[101],"quality":[104],"reliability.":[106],"In":[107],"view":[108],"these":[110],"problems,":[111],"this":[112],"paper":[113],"proposes":[114],"deal":[120],"any":[125],"poses":[126],"3D":[130],"model":[131],"during":[132],"process.":[135],"Experimental":[136],"results":[137],"performance":[140],"evaluation":[141],"show":[142],"method":[146,169],"outperforms":[147],"state-of-the-art":[149],"terms":[151],"success":[154],"rate":[155],"YCB-Video":[158],"datasets.":[159],"Moreover,":[160],"we":[161],"further":[162],"investigate":[163],"effectiveness":[165],"two":[171],"scenarios":[172],"where":[173],"manipulator":[176],"either":[179],"collaborative":[181],"or":[182],"bin-picking":[183],"modes.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-15T09:29:46.208133","created_date":"2025-10-10T00:00:00"}