{"id":"https://openalex.org/W2751348014","doi":"https://doi.org/10.1109/aim.2017.8014068","title":"Fast C-shape grasping for unknown objects","display_name":"Fast C-shape grasping for unknown objects","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2751348014","doi":"https://doi.org/10.1109/aim.2017.8014068","mag":"2751348014"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://resolver.tudelft.nl/uuid:67f39f9b-cde2-4d50-aa38-f4d29b3752ac","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042573764","display_name":"Qujiang Lei","orcid":"https://orcid.org/0000-0003-0550-5393"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Qujiang Lei","raw_affiliation_strings":["TU Delft Robotics Institute, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Delft Robotics Institute, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016384419","display_name":"Jonathan Meijer","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jonathan Meijer","raw_affiliation_strings":["TU Delft Robotics Institute, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Delft Robotics Institute, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012384272","display_name":"Martijn Wisse","orcid":"https://orcid.org/0000-0001-8210-7562"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Martijn Wisse","raw_affiliation_strings":["TU Delft Robotics Institute, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Delft Robotics Institute, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"509","last_page":"516"},"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":0.9987000226974487,"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":0.9986000061035156,"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":0.9504114985466003},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7334383726119995},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.690521776676178},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6665315628051758},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.647455632686615},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6410943865776062},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6152228713035583},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.568051278591156},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5677430629730225},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5385646820068359},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.482694149017334},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4767364263534546},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4673134684562683},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.422085165977478},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18037328124046326},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15088149905204773},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09159573912620544}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9504114985466003},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7334383726119995},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.690521776676178},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6665315628051758},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.647455632686615},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6410943865776062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6152228713035583},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.568051278591156},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5677430629730225},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5385646820068359},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.482694149017334},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4767364263534546},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4673134684562683},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.422085165977478},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18037328124046326},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15088149905204773},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09159573912620544},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2017.8014068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:tud:oai:tudelft.nl:uuid:67f39f9b-cde2-4d50-aa38-f4d29b3752ac","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:67f39f9b-cde2-4d50-aa38-f4d29b3752ac","pdf_url":"http://resolver.tudelft.nl/uuid:67f39f9b-cde2-4d50-aa38-f4d29b3752ac","source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics: AIM 2017","raw_type":"info:eu-repo/semantics/conferencepaper"}],"best_oa_location":{"id":"pmh:tud:oai:tudelft.nl:uuid:67f39f9b-cde2-4d50-aa38-f4d29b3752ac","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:67f39f9b-cde2-4d50-aa38-f4d29b3752ac","pdf_url":"http://resolver.tudelft.nl/uuid:67f39f9b-cde2-4d50-aa38-f4d29b3752ac","source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings 2017 IEEE International Conference on Advanced Intelligent Mechatronics: AIM 2017","raw_type":"info:eu-repo/semantics/conferencepaper"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2751348014.pdf"},"referenced_works_count":10,"referenced_works":["https://openalex.org/W2001122989","https://openalex.org/W2019965290","https://openalex.org/W2042613867","https://openalex.org/W2088502613","https://openalex.org/W2161819990","https://openalex.org/W2214488008","https://openalex.org/W2256378168","https://openalex.org/W2523831779","https://openalex.org/W6661153351","https://openalex.org/W6688727200"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W1984314158","https://openalex.org/W4210583734","https://openalex.org/W3159512259","https://openalex.org/W2088476797","https://openalex.org/W2102971868","https://openalex.org/W2625202073","https://openalex.org/W2168487931"],"abstract_inverted_index":{"Grasping":[0],"of":[1,40,57,86,133],"unknown":[2,36],"objects":[3],"with":[4,95],"neither":[5],"appearance":[6],"data":[7],"nor":[8],"object":[9,60],"models":[10],"given":[11],"in":[12,21],"advance":[13],"is":[14,44,50,108],"very":[15],"important":[16],"for":[17,35],"robots":[18],"that":[19],"work":[20],"an":[22,30,124],"unfamiliar":[23],"environment.":[24],"In":[25,66],"this":[26],"paper,":[27],"we":[28,82],"propose":[29],"original":[31],"fast":[32],"grasping":[33,80,135],"algorithm":[34],"objects.":[37],"The":[38,92],"geometry":[39],"the":[41,54,58,70,75,79,87,96,104,112,131,134],"under-actuated":[42,125],"gripper":[43,126],"approximated":[45],"as":[46],"a":[47,63,84,119],"C-shape,":[48],"which":[49],"used":[51,128],"to":[52,61,68,110,129],"fit":[53],"point":[55],"cloud":[56],"target":[59],"find":[62],"suitable":[64],"grasp.":[65],"order":[67],"make":[69],"robot":[71,121],"arm":[72,122],"quickly":[73],"execute":[74,111],"grasp":[76,113],"found":[77],"by":[78],"algorithm,":[81,136],"made":[83],"comparison":[85],"popular":[88],"online":[89],"motion":[90,93],"planners.":[91],"planner":[94],"highest":[97],"solved":[98],"runs,":[99],"lowest":[100],"computing":[101],"time":[102],"and":[103,116,123,137],"shortest":[105],"path":[106],"length":[107],"chosen":[109],"action.":[114],"Simulations":[115],"experiments":[117],"on":[118],"UR5":[120],"are":[127,140],"examine":[130],"performance":[132],"successful":[138],"results":[139],"obtained.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}