{"id":"https://openalex.org/W3092601110","doi":"https://doi.org/10.1109/case48305.2020.9217027","title":"Simultaneous Planning of Grasp and Motion using Sample Regions and Gradient-Based Optimization","display_name":"Simultaneous Planning of Grasp and Motion using Sample Regions and Gradient-Based Optimization","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3092601110","doi":"https://doi.org/10.1109/case48305.2020.9217027","mag":"3092601110"},"language":"en","primary_location":{"id":"doi:10.1109/case48305.2020.9217027","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9217027","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5082602400","display_name":"Takayuki Murooka","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Murooka","raw_affiliation_strings":["Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056828566","display_name":"Art\u00far I. K\u00e1roly","orcid":"https://orcid.org/0000-0002-2902-7253"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Artur Istvan Karoly","raw_affiliation_strings":["OMRON SINIC X Corporation, Hongo 5-24-5, Bunkyoku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation, Hongo 5-24-5, Bunkyoku, Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009765043","display_name":"Felix von Drigalski","orcid":"https://orcid.org/0000-0002-2679-8968"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Felix von Drigalski","raw_affiliation_strings":["OMRON SINIC X Corporation, Hongo 5-24-5, Bunkyoku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation, Hongo 5-24-5, Bunkyoku, Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000119898","display_name":"Yoshihisa Ijiri","orcid":null},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihisa Ijiri","raw_affiliation_strings":["OMRON Corporation, Konan 2-3-13, Minato-ku, Tokyo, Japan","OMRON SINIC X Corporation, Hongo 5-24-5, Bunkyoku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON Corporation, Konan 2-3-13, Minato-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]},{"raw_affiliation_string":"OMRON SINIC X Corporation, Hongo 5-24-5, Bunkyoku, Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1102","last_page":"1109"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8548834323883057},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7631587982177734},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7029706835746765},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6692487001419067},{"id":"https://openalex.org/keywords/classification-of-discontinuities","display_name":"Classification of discontinuities","score":0.5913146734237671},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5820340514183044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5466318130493164},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5304139256477356},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5286042094230652},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5218621492385864},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4528142809867859},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.4469979703426361},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.42306390404701233},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19212022423744202},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15227189660072327},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11321961879730225}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8548834323883057},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7631587982177734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7029706835746765},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6692487001419067},{"id":"https://openalex.org/C15627037","wikidata":"https://www.wikidata.org/wiki/Q541961","display_name":"Classification of discontinuities","level":2,"score":0.5913146734237671},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5820340514183044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5466318130493164},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5304139256477356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5286042094230652},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5218621492385864},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4528142809867859},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4469979703426361},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.42306390404701233},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19212022423744202},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15227189660072327},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11321961879730225},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case48305.2020.9217027","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9217027","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1509540129","https://openalex.org/W1987985958","https://openalex.org/W2002548850","https://openalex.org/W2019681680","https://openalex.org/W2055201760","https://openalex.org/W2068190491","https://openalex.org/W2091404895","https://openalex.org/W2099893201","https://openalex.org/W2100538121","https://openalex.org/W2110762409","https://openalex.org/W2129151256","https://openalex.org/W2135677376","https://openalex.org/W2141664020","https://openalex.org/W2142224528","https://openalex.org/W2149416133","https://openalex.org/W2167542173","https://openalex.org/W2169136412","https://openalex.org/W2794663059","https://openalex.org/W2963190023","https://openalex.org/W3001035930","https://openalex.org/W3003379106","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W4249963983","https://openalex.org/W3004284873","https://openalex.org/W1636820063","https://openalex.org/W3185561939","https://openalex.org/W2314800874","https://openalex.org/W2101128524","https://openalex.org/W1561942766","https://openalex.org/W2975200075","https://openalex.org/W2061090284","https://openalex.org/W2129451214"],"abstract_inverted_index":{"Motion":[0],"planning":[1,10,59],"is":[2,60],"an":[3,49],"essential":[4],"component":[5],"of":[6,97,104,148,157,168],"robotic":[7],"systems.":[8],"Gradient-based":[9],"has":[11],"been":[12],"proposed":[13,170],"to":[14,47,84,154],"produce":[15],"smooth":[16],"paths":[17,68],"under":[18],"constraints":[19,142],"for":[20,138],"manipulation":[21,41,88],"tasks":[22],"such":[23,63],"as":[24],"picking":[25],"and":[26,135,174],"placing":[27],"objects.":[28],"However,":[29],"it":[30],"does":[31],"not":[32],"deal":[33],"well":[34],"with":[35,69,175],"discontinuities,":[36,64],"which":[37,124],"occur":[38],"in":[39,122,172],"many":[40],"problems,":[42],"e.g.":[43],"when":[44],"deciding":[45],"whether":[46],"pick":[48],"object":[50,106],"from":[51,55,145],"the":[52,56,95,102,105,110,132,139,149,155,158,162,166,169],"side":[53],"or":[54],"top.":[57],"Sampling-based":[58],"robust":[61],"against":[62],"but":[65],"often":[66],"produces":[67],"unnecessary":[70],"motions":[71],"that":[72,143],"require":[73],"heavy":[74],"post-processing.":[75],"In":[76],"this":[77],"paper,":[78],"we":[79,117],"propose":[80],"a":[81,86,176],"novel":[82],"method":[83,130,171],"solve":[85],"complete":[87],"task":[89,150],"using":[90],"gradient-based":[91],"optimization":[92,120,156],"while":[93],"preserving":[94],"advantages":[96],"sampling-based":[98],"planning.":[99],"By":[100],"dividing":[101],"surface":[103],"into":[107],"regions":[108],"where":[109],"grasp":[111,136],"pose":[112],"can":[113],"be":[114],"extracted":[115],"quasi-continuously,":[116],"define":[118],"multiple":[119],"problems":[121],"parallel,":[123],"are":[125,151],"evaluated":[126],"independently.":[127],"As":[128],"our":[129],"generates":[131],"motion":[133],"path":[134],"plan":[137],"entire":[140,159],"task,":[141,160],"arise":[144],"each":[146],"moment":[147],"propagated":[152],"automatically":[153],"facilitating":[161],"setup.":[163],"We":[164],"show":[165],"effectiveness":[167],"simulation":[173],"real":[177],"robot.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}