{"id":"https://openalex.org/W2073833219","doi":"https://doi.org/10.1109/humanoids.2012.6651543","title":"Grab a mug - Object detection and grasp motion planning with the Nao robot","display_name":"Grab a mug - Object detection and grasp motion planning with the Nao robot","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2073833219","doi":"https://doi.org/10.1109/humanoids.2012.6651543","mag":"2073833219"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651543","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","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/A5081988179","display_name":"Judith M\u00fcller","orcid":null},"institutions":[{"id":"https://openalex.org/I2802442800","display_name":"Deutsches Forschungsnetz","ror":"https://ror.org/038t94116","country_code":"DE","type":"facility","lineage":["https://openalex.org/I2802442800"]},{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Judith Muller","raw_affiliation_strings":["Deutsches Forschungszentrum f\u00fcr K\u00fcnstliche Intelligenz, Cyber Physical Systems, Bremen, Germany","Cyber Phys. Syst., Deutsches Forschungszentrum fur Kunstliche Intelligenz, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Deutsches Forschungszentrum f\u00fcr K\u00fcnstliche Intelligenz, Cyber Physical Systems, Bremen, Germany","institution_ids":["https://openalex.org/I2802442800","https://openalex.org/I33256026"]},{"raw_affiliation_string":"Cyber Phys. Syst., Deutsches Forschungszentrum fur Kunstliche Intelligenz, Bremen, Germany","institution_ids":["https://openalex.org/I2802442800","https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061113124","display_name":"Udo Frese","orcid":"https://orcid.org/0000-0001-8325-6324"},"institutions":[{"id":"https://openalex.org/I2802442800","display_name":"Deutsches Forschungsnetz","ror":"https://ror.org/038t94116","country_code":"DE","type":"facility","lineage":["https://openalex.org/I2802442800"]},{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Udo Frese","raw_affiliation_strings":["Deutsches Forschungszentrum f\u00fcr K\u00fcnstliche Intelligenz, Cyber Physical Systems, Bremen, Germany","Cyber Phys. Syst., Deutsches Forschungszentrum fur Kunstliche Intelligenz, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Deutsches Forschungszentrum f\u00fcr K\u00fcnstliche Intelligenz, Cyber Physical Systems, Bremen, Germany","institution_ids":["https://openalex.org/I2802442800","https://openalex.org/I33256026"]},{"raw_affiliation_string":"Cyber Phys. Syst., Deutsches Forschungszentrum fur Kunstliche Intelligenz, Bremen, Germany","institution_ids":["https://openalex.org/I2802442800","https://openalex.org/I33256026"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081770856","display_name":"Thomas R\u00f6fer","orcid":null},"institutions":[{"id":"https://openalex.org/I2802442800","display_name":"Deutsches Forschungsnetz","ror":"https://ror.org/038t94116","country_code":"DE","type":"facility","lineage":["https://openalex.org/I2802442800"]},{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Rofer","raw_affiliation_strings":["Deutsches Forschungszentrum f\u00fcr K\u00fcnstliche Intelligenz, Cyber Physical Systems, Bremen, Germany","Cyber Phys. Syst., Deutsches Forschungszentrum fur Kunstliche Intelligenz, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Deutsches Forschungszentrum f\u00fcr K\u00fcnstliche Intelligenz, Cyber Physical Systems, Bremen, Germany","institution_ids":["https://openalex.org/I2802442800","https://openalex.org/I33256026"]},{"raw_affiliation_string":"Cyber Phys. Syst., Deutsches Forschungszentrum fur Kunstliche Intelligenz, Bremen, Germany","institution_ids":["https://openalex.org/I2802442800","https://openalex.org/I33256026"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2794,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.92152361,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"349","last_page":"356"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9979000091552734,"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":0.8834652900695801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8202158808708191},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7784291505813599},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.732078492641449},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7042374014854431},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6620073914527893},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.629058301448822},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6185362935066223},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6150040626525879},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.4972405731678009},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.45816782116889954},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44495007395744324},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4389263391494751},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.10291197896003723}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8834652900695801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8202158808708191},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7784291505813599},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.732078492641449},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7042374014854431},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6620073914527893},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.629058301448822},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6185362935066223},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6150040626525879},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.4972405731678009},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.45816782116889954},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44495007395744324},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4389263391494751},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.10291197896003723},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2012.6651543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651543","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.432.7327","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.432.7327","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-bremen.de/agebv2/downloads/published/muellerhumanoids12.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1516314315","https://openalex.org/W1776312682","https://openalex.org/W1879310615","https://openalex.org/W1996474504","https://openalex.org/W2046681095","https://openalex.org/W2084196626","https://openalex.org/W2097320252","https://openalex.org/W2099870233","https://openalex.org/W2100476816","https://openalex.org/W2128990851","https://openalex.org/W2130912818","https://openalex.org/W2134705688","https://openalex.org/W2138671676","https://openalex.org/W2151783584","https://openalex.org/W2156886697","https://openalex.org/W2165745738","https://openalex.org/W2468050848"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W1984314158"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"introduce":[4],"an":[5,23,49,96],"online":[6,66],"grasping":[7,67,91],"system":[8,20],"for":[9],"the":[10,69,77,82],"Nao":[11,70],"robot":[12],"[1]":[13],"manufactured":[14],"by":[15,36,48],"Aldebaran":[16],"Robotics.":[17],"The":[18,85],"proposed":[19,87],"consists":[21],"of":[22],"object":[24,40],"detector":[25,41],"and":[26,42,81,90],"a":[27,37],"grasp":[28],"motion":[29,44],"planner.":[30],"Thereby,":[31],"known":[32],"objects":[33,92],"are":[34,46],"detected":[35],"stereo":[38],"contour-based":[39],"hand":[43,83],"paths":[45],"planned":[47],"A*-based":[50],"algorithm":[51],"while":[52],"avoiding":[53],"obstacles.":[54],"Compared":[55],"to":[56,76],"skilled":[57],"robots":[58],"such":[59],"as":[60,72],"Justin":[61],"[2]":[62],"or":[63],"ASIMO":[64],"[3]":[65],"with":[68],"constitute":[71],"particular":[73],"problem":[74],"due":[75],"limited":[78],"processing":[79],"power":[80],"design.":[84],"methods":[86],"allow":[88],"detecting":[89],"in":[93],"real-time":[94],"on":[95],"affordable":[97],"humanoid":[98],"robot.":[99]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}