{"id":"https://openalex.org/W2950495638","doi":"https://doi.org/10.1109/icarsc.2019.8733615","title":"Grasp Planning with Incomplete Knowledge About the Object to be Grasped","display_name":"Grasp Planning with Incomplete Knowledge About the Object to be Grasped","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2950495638","doi":"https://doi.org/10.1109/icarsc.2019.8733615","mag":"2950495638"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc.2019.8733615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2019.8733615","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5074484305","display_name":"Jo\u00e3o Gon\u00e7alves","orcid":"https://orcid.org/0000-0002-1245-3715"},"institutions":[{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Joao Goncalves","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisboa"],"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisboa","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079158943","display_name":"Pedro U. Lima","orcid":"https://orcid.org/0000-0002-8962-8050"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Lima","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisboa"],"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisboa","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5074484305"],"corresponding_institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"],"apc_list":null,"apc_paid":null,"fwci":0.9979,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.76229981,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/grasp","display_name":"GRASP","score":0.9500044584274292},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7231124639511108},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6195751428604126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6178015470504761},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6068636775016785},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5465157628059387},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5436304807662964},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5160486102104187},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48219218850135803},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.46200889348983765},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4600053131580353},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4506431519985199},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4417172372341156},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.42493462562561035},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41311386227607727},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4005095958709717},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1653643250465393},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.0975334644317627},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08625099062919617}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9500044584274292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7231124639511108},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6195751428604126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6178015470504761},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6068636775016785},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5465157628059387},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5436304807662964},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5160486102104187},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48219218850135803},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.46200889348983765},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4600053131580353},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4506431519985199},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4417172372341156},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.42493462562561035},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41311386227607727},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4005095958709717},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1653643250465393},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0975334644317627},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08625099062919617},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc.2019.8733615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2019.8733615","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1567041138","https://openalex.org/W1820657498","https://openalex.org/W1899217968","https://openalex.org/W2005756025","https://openalex.org/W2041376653","https://openalex.org/W2110762409","https://openalex.org/W2112796928","https://openalex.org/W2133844819","https://openalex.org/W2164474021","https://openalex.org/W2205340216","https://openalex.org/W2963037989","https://openalex.org/W2963166883","https://openalex.org/W2963326767"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W3047523153","https://openalex.org/W4226342200","https://openalex.org/W3016367173","https://openalex.org/W3040474838","https://openalex.org/W4391529045","https://openalex.org/W4294975949","https://openalex.org/W2172144564","https://openalex.org/W2292471743"],"abstract_inverted_index":{"Robotic":[0],"grasping":[1,119],"in":[2,20,39,63,84,105,129,155],"domestic":[3],"environments":[4],"is":[5,48,121],"nowadays":[6],"a":[7,21,26,78,111,147,207],"topic":[8],"of":[9,16,36,51,107,117,192],"intensive":[10],"research,":[11],"since":[12],"the":[13,34,49,52,56,59,68,94,102,118,122,127,130,142,150,156,179,193,196,218],"big":[14],"number":[15],"variables":[17],"and":[18,61,146,183,203],"constraints":[19],"household":[22],"scenario":[23],"makes":[24],"it":[25,65],"difficult":[27],"task":[28,120],"to":[29,45,80,93,100,171,214],"accomplish.":[30],"This":[31,133,158],"paper":[32],"addresses":[33],"problem":[35,44],"grasp":[37,53,67,82,103,131],"planning":[38,124],"these":[40],"situations.":[41],"The":[42,114],"first":[43],"deal":[46],"with":[47,87,166,206],"selection":[50],"pose":[54],"for":[55,110,141,149],"end-effector":[57,128],"-":[58],"position":[60],"orientation":[62],"which":[64,200],"should":[66],"desired":[69],"object.":[70],"To":[71],"tackle":[72],"this":[73,75],"issue,":[74],"work":[76],"applies":[77],"method":[79,170],"detect":[81],"poses":[83],"point":[85],"clouds":[86],"objects":[88],"that":[89,125,210],"may":[90,211],"be":[91],"unknown":[92],"robot,":[95],"followed":[96],"by":[97,161],"an":[98,136,167],"approach":[99],"select":[101],"candidate":[104],"terms":[106],"its":[108],"appropriateness":[109],"given":[112],"scene.":[113,157],"second":[115],"part":[116],"motion":[123,181],"places":[126],"pose.":[132],"involves":[134],"getting":[135],"Inverse":[137],"Kinematics":[138],"(IK)":[139],"solution":[140],"goal":[143],"arm":[144,151],"configuration":[145],"trajectory":[148],"avoiding":[152],"any":[153],"obstacle":[154],"was":[159,186],"addressed":[160],"using":[162],"MoveIt!":[163],"framework":[164],"together":[165],"additional":[168],"tolerance":[169],"compute":[172],"feasible":[173],"movements.":[174],"A":[175],"comparative":[176],"study":[177],"regarding":[178],"used":[180],"planners":[182],"IK":[184],"solvers":[185],"conducted.":[187],"We":[188],"show":[189],"experimental":[190],"results":[191],"pipeline,":[194],"featuring":[195],"components":[197],"mentioned":[198],"above,":[199],"can":[201],"plan":[202],"execute":[204],"grasps":[205],"success":[208],"rate":[209],"go":[212],"up":[213],"90%,":[215],"depending":[216],"on":[217],"scenario.":[219]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}