{"id":"https://openalex.org/W4390480944","doi":"https://doi.org/10.1109/humanoids57100.2023.10375204","title":"Grasping with Humanoid Hands based on In-Hand Vision and Hardware-accelerated CNNs","display_name":"Grasping with Humanoid Hands based on In-Hand Vision and Hardware-accelerated CNNs","publication_year":2023,"publication_date":"2023-12-12","ids":{"openalex":"https://openalex.org/W4390480944","doi":"https://doi.org/10.1109/humanoids57100.2023.10375204"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids57100.2023.10375204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375204","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","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/A5005440559","display_name":"Felix Hundhausen","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Felix Hundhausen","raw_affiliation_strings":["Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany","Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093630718","display_name":"Simon Hubschneider","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simon Hubschneider","raw_affiliation_strings":["Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany","Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tamim Asfour","raw_affiliation_strings":["Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany","Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Institute for Anthropomatics and Robotics,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5005440559"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":0.9391,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.76075265,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9979000091552734,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7882328629493713},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.775670051574707},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7468132972717285},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5801035165786743},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5700441002845764},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5131765007972717},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5033368468284607},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4974577724933624},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.44849467277526855},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.4249572455883026},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4171648323535919},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.19567212462425232},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14928171038627625}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7882328629493713},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.775670051574707},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7468132972717285},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5801035165786743},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5700441002845764},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5131765007972717},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5033368468284607},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4974577724933624},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.44849467277526855},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.4249572455883026},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4171648323535919},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.19567212462425232},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14928171038627625},{"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/humanoids57100.2023.10375204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375204","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2129389525","https://openalex.org/W2169759998","https://openalex.org/W2170940415","https://openalex.org/W2610694266","https://openalex.org/W2805202215","https://openalex.org/W2887063112","https://openalex.org/W2946547492","https://openalex.org/W2963918968","https://openalex.org/W2971428146","https://openalex.org/W2982369787","https://openalex.org/W2982604968","https://openalex.org/W3011048530","https://openalex.org/W3099587965","https://openalex.org/W3130962016","https://openalex.org/W3133708208","https://openalex.org/W4200027192","https://openalex.org/W4220908898","https://openalex.org/W4389665358"],"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/W1984314158","https://openalex.org/W3021551196"],"abstract_inverted_index":{"We":[0,71,133,150],"present":[1],"a":[2,33,37,41,49,59,110,127,152,161],"vision-based":[3],"grasping":[4,145],"system":[5,23],"for":[6,14,75,109,130,164],"humanoid":[7,34],"and":[8,18,45,65,122,139,160],"prosthetic":[9],"hands":[10],"using":[11,36],"hardware-accelerated":[12],"CNNs":[13],"real-time":[15],"object":[16,77,93,99,120,154,165],"classification":[17],"class-aware":[19],"pixel-wise":[20],"segmentation.":[21],"The":[22,91],"is":[24,105],"implemented":[25],"on":[26,81],"the":[27,52,86,98,103,115,118,135],"hand":[28,35,53,87,104],"internal":[29,88],"processing":[30],"hardware":[31],"of":[32,102,117,157,168],"System-on-Chip":[38],"(SoC)":[39],"comprising":[40],"Processor":[42],"System":[43],"(PS)":[44],"an":[46,55,66,73],"FPGA.":[47],"As":[48],"sensor":[50,89],"system,":[51],"provides":[54],"integrated":[56],"RGB":[57],"camera,":[58],"multi-region":[60],"Time-of-Flight":[61],"(ToF)":[62],"depth":[63],"sensor,":[64],"Inertial":[67],"Measurement":[68],"Unit":[69],"(IMU).":[70],"propose":[72],"algorithm":[74,129],"3D":[76,92,140],"shape":[78],"estimation":[79,142,167],"based":[80],"sensory":[82],"information":[83],"provided":[84],"by":[85],"system.":[90],"mesh":[94],"in":[95,144],"combination":[96],"with":[97,147],"relative":[100],"pose":[101],"used":[106],"as":[107],"input":[108],"reactive":[111],"grasp":[112],"controller.":[113],"For":[114],"design":[116],"CNN-based":[119],"recognition":[121],"segmentation":[123,155],"networks,":[124],"we":[125],"use":[126],"resource-aware":[128],"Network-Architecture-Synthesis":[131],"(NAS).":[132],"evaluate":[134],"visual":[136],"perception":[137],"accuracy":[138,143,156],"model":[141],"experiments":[146],"six":[148],"objects.":[149],"obtain":[151],"mean":[153,162],"84.4":[158],"%":[159],"error":[163],"diameter":[166],"44":[169],"mm.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}