{"id":"https://openalex.org/W4401751764","doi":"https://doi.org/10.1109/aim55361.2024.10636988","title":"Hybrid-AI Grasp Planning System that Integrates Rule-Based and DNN-Based Methods for Throughput Improvement of Picking Robots","display_name":"Hybrid-AI Grasp Planning System that Integrates Rule-Based and DNN-Based Methods for Throughput Improvement of Picking Robots","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4401751764","doi":"https://doi.org/10.1109/aim55361.2024.10636988"},"language":"en","primary_location":{"id":"doi:10.1109/aim55361.2024.10636988","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim55361.2024.10636988","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"article","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/A5108972404","display_name":"Kazuma Komoda","orcid":null},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"K. Komoda","raw_affiliation_strings":["Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017"],"affiliations":[{"raw_affiliation_string":"Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017","institution_ids":["https://openalex.org/I1292669757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100703114","display_name":"Ping Jiang","orcid":"https://orcid.org/0000-0002-7148-102X"},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"P. Jiang","raw_affiliation_strings":["Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017"],"affiliations":[{"raw_affiliation_string":"Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017","institution_ids":["https://openalex.org/I1292669757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101785626","display_name":"Haifeng Han","orcid":"https://orcid.org/0009-0009-8151-572X"},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Han","raw_affiliation_strings":["Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017"],"affiliations":[{"raw_affiliation_string":"Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017","institution_ids":["https://openalex.org/I1292669757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076598795","display_name":"Junichiro Ooga","orcid":"https://orcid.org/0009-0007-6682-428X"},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Ooga","raw_affiliation_strings":["Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017"],"affiliations":[{"raw_affiliation_string":"Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017","institution_ids":["https://openalex.org/I1292669757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061653132","display_name":"Hideo Et\u014d","orcid":null},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Eto","raw_affiliation_strings":["Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017"],"affiliations":[{"raw_affiliation_string":"Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017","institution_ids":["https://openalex.org/I1292669757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065561599","display_name":"Seiji Tokura","orcid":null},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Tokura","raw_affiliation_strings":["Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017"],"affiliations":[{"raw_affiliation_string":"Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017","institution_ids":["https://openalex.org/I1292669757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048631824","display_name":"Hiroshi Chatani","orcid":null},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Chatani","raw_affiliation_strings":["Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017"],"affiliations":[{"raw_affiliation_string":"Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017","institution_ids":["https://openalex.org/I1292669757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022354824","display_name":"Kosuke Sawa","orcid":"https://orcid.org/0000-0002-1807-9277"},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Sawa","raw_affiliation_strings":["Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017"],"affiliations":[{"raw_affiliation_string":"Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017","institution_ids":["https://openalex.org/I1292669757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109848134","display_name":"Y. Oka","orcid":null},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Oka","raw_affiliation_strings":["Toshiba Infrastructure Systems &#x0026; Solutions Corporation, Kawasaki, 1, Komukai-Toshiba-cho,Saiwai-ku,JAPAN,212-8581"],"affiliations":[{"raw_affiliation_string":"Toshiba Infrastructure Systems &#x0026; Solutions Corporation, Kawasaki, 1, Komukai-Toshiba-cho,Saiwai-ku,JAPAN,212-8581","institution_ids":["https://openalex.org/I1292669757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026156131","display_name":"Kazunobu KONDA","orcid":null},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Konda","raw_affiliation_strings":["Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017"],"affiliations":[{"raw_affiliation_string":"Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017","institution_ids":["https://openalex.org/I1292669757"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113007348","display_name":"Akihito Ogawa","orcid":null},"institutions":[{"id":"https://openalex.org/I1292669757","display_name":"Toshiba (Japan)","ror":"https://ror.org/0326v3z14","country_code":"JP","type":"company","lineage":["https://openalex.org/I1292669757"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Ogawa","raw_affiliation_strings":["Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017"],"affiliations":[{"raw_affiliation_string":"Toshiba Corporation, Yokohama, 33, Shin-Isogo-Cho,Isogo-ku,JAPAN,235-0017","institution_ids":["https://openalex.org/I1292669757"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5108972404"],"corresponding_institution_ids":["https://openalex.org/I1292669757"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1477473,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1F3-04","issue":null,"first_page":"691","last_page":"696"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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":0.9988999962806702,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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","display_name":"GRASP","score":0.845916211605072},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7690023183822632},{"id":"https://openalex.org/keywords/throughput","display_name":"Throughput","score":0.6951709389686584},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6381889581680298},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5373759269714355},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33775219321250916},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.08581441640853882},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.07357069849967957}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.845916211605072},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7690023183822632},{"id":"https://openalex.org/C157764524","wikidata":"https://www.wikidata.org/wiki/Q1383412","display_name":"Throughput","level":3,"score":0.6951709389686584},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6381889581680298},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5373759269714355},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33775219321250916},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.08581441640853882},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.07357069849967957},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim55361.2024.10636988","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim55361.2024.10636988","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2201912979","https://openalex.org/W2945736956","https://openalex.org/W2962858109","https://openalex.org/W2963326767","https://openalex.org/W2964239605","https://openalex.org/W2966615203","https://openalex.org/W2993476843","https://openalex.org/W3039078824","https://openalex.org/W3106922035","https://openalex.org/W3107139729","https://openalex.org/W3199032418","https://openalex.org/W6746713385"],"related_works":["https://openalex.org/W2963326767","https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W3046775127","https://openalex.org/W3107602296","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W4364306694","https://openalex.org/W4312192474"],"abstract_inverted_index":{"In":[0],"the":[1,6,42,46,57,62,104],"logistics":[2],"field,":[3],"due":[4],"to":[5],"declining":[7],"birthrate,":[8],"aging":[9],"population,":[10],"and":[11,48,50,71],"shrinking":[12],"workforce,":[13],"there":[14],"is":[15,68],"growing":[16],"demand":[17],"for":[18,34],"automation":[19],"of":[20,45],"manual":[21],"handling":[22],"tasks.":[23],"Focusing":[24],"on":[25],"robotic":[26],"picking":[27],"operations,":[28],"we":[29],"developed":[30,105],"two":[31],"grasping":[32,58],"methods":[33],"various":[35],"items:":[36],"rule-based":[37],"grasp":[38,52,66,73,85,90,100],"planning":[39,53,67,74,86,91,101],"that":[40,54,87,96],"considers":[41],"physical":[43],"characteristics":[44],"items":[47],"environment,":[49],"DNN-based":[51,72],"can":[55,107,112],"learn":[56],"points":[59],"obtained":[60],"by":[61,103],"same":[63],"method.":[64],"Rule-based":[65],"computationally":[69],"time-consuming,":[70],"has":[75],"a":[76,114],"lower":[77],"success":[78,116],"rate.":[79],"Therefore,":[80],"this":[81],"paper":[82],"proposes":[83],"hybrid-AI":[84],"integrates":[88],"these":[89],"methods.":[92],"We":[93],"effectively":[94],"demonstrated":[95],"selecting":[97],"an":[98],"appropriate":[99],"method":[102],"selector":[106],"improve":[108],"throughput":[109],"because":[110],"it":[111],"combine":[113],"high":[115],"rate":[117],"with":[118],"fast":[119],"calculation":[120],"time.":[121]},"counts_by_year":[],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}
