{"id":"https://openalex.org/W1632932954","doi":"https://doi.org/10.1109/coase.2015.7294334","title":"Real-time grasping planning for robotic bin-picking and kitting applications","display_name":"Real-time grasping planning for robotic bin-picking and kitting applications","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1632932954","doi":"https://doi.org/10.1109/coase.2015.7294334","mag":"1632932954"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2015.7294334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2015.7294334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Automation Science and Engineering (CASE)","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/A5069886050","display_name":"Jane Shi","orcid":"https://orcid.org/0000-0002-9013-3856"},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jane Shi","raw_affiliation_strings":["Manufacturing Systems Research Lab, General Motors Global R&D Center, Warren, MI, USA","Manufacturing Systems Research Lab, General Motors Global R&D Center, Warren, MI 48090, USA"],"affiliations":[{"raw_affiliation_string":"Manufacturing Systems Research Lab, General Motors Global R&D Center, Warren, MI, USA","institution_ids":["https://openalex.org/I118136607"]},{"raw_affiliation_string":"Manufacturing Systems Research Lab, General Motors Global R&D Center, Warren, MI 48090, USA","institution_ids":["https://openalex.org/I118136607"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005299640","display_name":"Gurdayal S. Koonjul","orcid":null},"institutions":[{"id":"https://openalex.org/I1332737386","display_name":"General Electric (United States)","ror":"https://ror.org/013msgt25","country_code":"US","type":"company","lineage":["https://openalex.org/I1332737386"]},{"id":"https://openalex.org/I4210134512","display_name":"GE Global Research (United States)","ror":"https://ror.org/03e06qt98","country_code":"US","type":"company","lineage":["https://openalex.org/I4210134512"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gurdayal S. Koonjul","raw_affiliation_strings":["GE Global Research, GM Global R&D Center","GE Global Research, and he worked at MSR lab, GM Global R&D Center from Oct. 2011 to July 2014"],"affiliations":[{"raw_affiliation_string":"GE Global Research, GM Global R&D Center","institution_ids":["https://openalex.org/I4210134512"]},{"raw_affiliation_string":"GE Global Research, and he worked at MSR lab, GM Global R&D Center from Oct. 2011 to July 2014","institution_ids":["https://openalex.org/I1332737386"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5069886050"],"corresponding_institution_ids":["https://openalex.org/I118136607"],"apc_list":null,"apc_paid":null,"fwci":0.6732,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.73017399,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"1632","last_page":"1637"},"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":0.9976000189781189,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9939000010490417,"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","display_name":"GRASP","score":0.8921986818313599},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.625679612159729},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6115414500236511},{"id":"https://openalex.org/keywords/bin","display_name":"Bin","score":0.5236137509346008},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4793848991394043},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47821804881095886},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.4657882750034332},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.44729384779930115},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4181496798992157},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40777161717414856},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3772173523902893},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2402469515800476},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09892797470092773},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07775112986564636},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.06524330377578735}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8921986818313599},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.625679612159729},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6115414500236511},{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.5236137509346008},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4793848991394043},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47821804881095886},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.4657882750034332},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.44729384779930115},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4181496798992157},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40777161717414856},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3772173523902893},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2402469515800476},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09892797470092773},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07775112986564636},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.06524330377578735},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2015.7294334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2015.7294334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7099999785423279,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W281357932","https://openalex.org/W562639461","https://openalex.org/W1510186039","https://openalex.org/W1820657498","https://openalex.org/W2005824379","https://openalex.org/W2037882812","https://openalex.org/W2042859160","https://openalex.org/W2046681095","https://openalex.org/W2064878003","https://openalex.org/W2093801937","https://openalex.org/W2106215490","https://openalex.org/W2109163007","https://openalex.org/W2118262422","https://openalex.org/W2126496149","https://openalex.org/W2128990851","https://openalex.org/W2132086397","https://openalex.org/W2140173255","https://openalex.org/W2150018021","https://openalex.org/W2153096930","https://openalex.org/W2156219259","https://openalex.org/W2160686985","https://openalex.org/W2161933351","https://openalex.org/W3104753760","https://openalex.org/W4231055238","https://openalex.org/W4242811155","https://openalex.org/W6610229207","https://openalex.org/W6679643019","https://openalex.org/W6683198263"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2374043190","https://openalex.org/W2363298784","https://openalex.org/W2367402697"],"abstract_inverted_index":{"Multi-fingered":[0],"robotic":[1,36,105,112,117],"hands":[2,37],"can":[3,90],"potentially":[4],"offer":[5],"a":[6,13,18,23,39,70],"higher":[7],"degree":[8],"of":[9,15,26,59],"dexterity":[10],"for":[11,34],"grasping":[12,48],"variety":[14],"parts":[16],"than":[17],"traditional":[19],"parallel":[20],"gripper":[21],"or":[22],"custom":[24],"end":[25],"arm":[27],"tool":[28],"(EOAT).":[29],"However,":[30],"real-time":[31,47],"grasp":[32,73,82],"planning":[33,49,74,83],"complex":[35],"is":[38],"challenging":[40],"task.":[41],"In":[42],"this":[43],"paper,":[44],"we":[45,68],"present":[46],"algorithms":[50,96],"that":[51,89],"utilize":[52],"simple":[53],"and":[54,62,104,107],"effective":[55],"dimension":[56],"reduction":[57],"strategies":[58],"\u201cintersected":[60],"volume\u201d":[61],"the":[63],"\u201cfinger":[64],"curling":[65],"planes\u201d.":[66],"Therefore,":[67],"decompose":[69],"time":[71],"consuming":[72],"problem":[75],"in":[76,85,93],"high":[77],"dimensional":[78,87],"space":[79,88],"into":[80],"several":[81],"problems":[84],"low":[86],"be":[91],"computed":[92],"real-time.":[94],"Our":[95],"have":[97],"been":[98],"demonstrated":[99],"with":[100,114],"simulation,":[101],"physical":[102],"experiments,":[103],"bin-picking":[106],"kitting":[108],"applications":[109],"on":[110],"two":[111],"platforms":[113],"three":[115],"different":[116],"hands.":[118]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
