{"id":"https://openalex.org/W2583326690","doi":"https://doi.org/10.1109/icarcv.2016.7838637","title":"Unknown object grasping by using concavity","display_name":"Unknown object grasping by using concavity","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2583326690","doi":"https://doi.org/10.1109/icarcv.2016.7838637","mag":"2583326690"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2016.7838637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838637","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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/A5042573764","display_name":"Qujiang Lei","orcid":"https://orcid.org/0000-0003-0550-5393"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Qujiang Lei","raw_affiliation_strings":["TU Delft Robotics Institute, Delft University of Technology, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"TU Delft Robotics Institute, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012384272","display_name":"Martijn Wisse","orcid":"https://orcid.org/0000-0001-8210-7562"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Martijn Wisse","raw_affiliation_strings":["TU Delft Robotics Institute, Delft University of Technology, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"TU Delft Robotics Institute, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5042573764"],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":0.8034,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.77116149,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9932000041007996,"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":0.9519000053405762,"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":0.986079216003418},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.7687482833862305},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7192280292510986},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6442773342132568},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.60272216796875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4984595775604248},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4578579366207123},{"id":"https://openalex.org/keywords/vertex","display_name":"Vertex (graph theory)","score":0.415298730134964},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41416841745376587},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3272434175014496},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.26823586225509644},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1482771933078766},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.06817221641540527}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.986079216003418},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.7687482833862305},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7192280292510986},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6442773342132568},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.60272216796875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4984595775604248},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4578579366207123},{"id":"https://openalex.org/C80899671","wikidata":"https://www.wikidata.org/wiki/Q1304193","display_name":"Vertex (graph theory)","level":3,"score":0.415298730134964},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41416841745376587},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3272434175014496},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26823586225509644},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1482771933078766},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.06817221641540527},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarcv.2016.7838637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838637","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},{"id":"pmh:oai:tudelft.nl:uuid:49712a0e-ad12-42ba-a1b7-80207dc2740a","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:49712a0e-ad12-42ba-a1b7-80207dc2740a","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W4155032","https://openalex.org/W1503980375","https://openalex.org/W1510186039","https://openalex.org/W1530007236","https://openalex.org/W1808974695","https://openalex.org/W2010274050","https://openalex.org/W2036637075","https://openalex.org/W2039675648","https://openalex.org/W2052157794","https://openalex.org/W2068682859","https://openalex.org/W2094934490","https://openalex.org/W2101552762","https://openalex.org/W2108865768","https://openalex.org/W2118262422","https://openalex.org/W2120200810","https://openalex.org/W2129818002","https://openalex.org/W2131208256","https://openalex.org/W2135516637","https://openalex.org/W2146447720","https://openalex.org/W2156583822","https://openalex.org/W2157692698","https://openalex.org/W2202245204","https://openalex.org/W3112422759","https://openalex.org/W6600172996"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2523147401","https://openalex.org/W2183638083","https://openalex.org/W2119138398","https://openalex.org/W2306351532","https://openalex.org/W2598979711","https://openalex.org/W2037384153"],"abstract_inverted_index":{"Reducing":[0],"the":[1,13,36,42,54,61,70,81,99,106,115,124,131],"grasp":[2,10,43,110,113],"candidates":[3,76,94],"for":[4,57],"unknown":[5,28,37,62,137,145],"object":[6,29,146],"grasping":[7,30,147],"while":[8],"maintaining":[9],"stability":[11],"is":[12,48,121,156],"goal":[14],"of":[15,35,60,101,108,133],"this":[16,19],"paper.":[17],"In":[18,127],"paper,":[20],"we":[21],"propose":[22],"an":[23],"efficient":[24],"and":[25,86,105,119,153],"straight":[26],"forward":[27],"method":[31],"by":[32,65,88,141],"using":[33,89],"concavities":[34],"objects":[38,63,138],"to":[39,51,68,98,129,150],"significantly":[40],"reduce":[41],"candidates.":[44],"Shortest":[45],"path":[46],"concavity":[47,55,66],"first":[49],"employed":[50],"work":[52],"out":[53],"value":[56],"every":[58,109],"vertex":[59],"followed":[64],"extraction":[67],"obtain":[69],"most":[71,82],"salient":[72,83],"concave":[73,84],"areas.":[74],"Grasp":[75,93],"are":[77,95,148],"then":[78],"generated":[79],"on":[80],"areas":[85],"evaluated":[87],"force":[90,102,117],"balance":[91,103,118],"computation.":[92],"ranked":[96],"according":[97],"result":[100],"computation":[104],"manipulability":[107,120],"candidate.":[111],"The":[112],"with":[114],"best":[116],"chosen":[122],"as":[123],"final":[125],"grasp.":[126],"order":[128],"verify":[130],"effectiveness":[132],"our":[134],"algorithm,":[135],"some":[136],"commonly":[139],"used":[140,149],"other":[142],"papers":[143],"about":[144],"do":[151],"simulations":[152],"favorable":[154],"performance":[155],"obtained.":[157]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}