{"id":"https://openalex.org/W2542011642","doi":"https://doi.org/10.1109/ichr.2007.4813847","title":"Grasp planning in complex scenes","display_name":"Grasp planning in complex scenes","publication_year":2007,"publication_date":"2007-11-01","ids":{"openalex":"https://openalex.org/W2542011642","doi":"https://doi.org/10.1109/ichr.2007.4813847","mag":"2542011642"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2007.4813847","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2007.4813847","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 7th IEEE-RAS International Conference on Humanoid Robots","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/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002800405","display_name":"Rosen Diankov","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rosen Diankov","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113446235","display_name":"Koichi Nishiwaki","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Nishiwaki","raw_affiliation_strings":["Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113822737","display_name":"Satoshi Kagami","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Kagami","raw_affiliation_strings":["Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021782513","display_name":"James Kuffner","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"James Kuffner","raw_affiliation_strings":["Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5083082888"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":33.3861,"has_fulltext":false,"cited_by_count":186,"citation_normalized_percentile":{"value":0.99703766,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"42","last_page":"48"},"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":0.9810000061988831,"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":0.9775000214576721,"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":0.9783020615577698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7491793036460876},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7136918306350708},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6662207245826721},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6458435654640198},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5884418487548828},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.55025315284729},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4962521195411682},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4828939437866211},{"id":"https://openalex.org/keywords/rank","display_name":"Rank (graph theory)","score":0.478512167930603},{"id":"https://openalex.org/keywords/ranking","display_name":"Ranking (information retrieval)","score":0.45131823420524597},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.44338011741638184},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.4433697760105133},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1190912127494812},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1092139482498169}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9783020615577698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7491793036460876},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7136918306350708},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6662207245826721},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6458435654640198},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5884418487548828},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.55025315284729},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4962521195411682},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4828939437866211},{"id":"https://openalex.org/C164226766","wikidata":"https://www.wikidata.org/wiki/Q7293202","display_name":"Rank (graph theory)","level":2,"score":0.478512167930603},{"id":"https://openalex.org/C189430467","wikidata":"https://www.wikidata.org/wiki/Q7293293","display_name":"Ranking (information retrieval)","level":2,"score":0.45131823420524597},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.44338011741638184},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.4433697760105133},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1190912127494812},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1092139482498169},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ichr.2007.4813847","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2007.4813847","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 7th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.138.8588","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.138.8588","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.programmingvision.com/papers/diankov07_grasp_planning.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8199999928474426,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320337370","display_name":"Office of International Science and Engineering","ror":"https://ror.org/01k638r21"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W52525487","https://openalex.org/W92423125","https://openalex.org/W1762028192","https://openalex.org/W1989604857","https://openalex.org/W2041376653","https://openalex.org/W2075753041","https://openalex.org/W2106628124","https://openalex.org/W2116817751","https://openalex.org/W2122220338","https://openalex.org/W2123365775","https://openalex.org/W2127833308","https://openalex.org/W2139039898","https://openalex.org/W2149729559","https://openalex.org/W2152247404","https://openalex.org/W2152388561","https://openalex.org/W2162930614","https://openalex.org/W2163267929","https://openalex.org/W2546286443","https://openalex.org/W3104753760","https://openalex.org/W6682587549","https://openalex.org/W6983056187"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W51364034","https://openalex.org/W3160516639","https://openalex.org/W2898073868","https://openalex.org/W4284663758"],"abstract_inverted_index":{"This":[0],"paper":[1],"combines":[2,75],"grasp":[3,12,39,77,134],"analysis":[4],"and":[5,42,57,92,136,141],"manipulation":[6],"planning":[7,13],"techniques":[8],"to":[9,29,55,109],"perform":[10,48],"fast":[11],"in":[14,34,71,102,116,139],"complex":[15],"scenes.":[16],"In":[17],"much":[18],"previous":[19],"work":[20],"on":[21,142],"grasping,":[22],"the":[23,31,35,38,51,81,86,90,95,143],"object":[24,33,52,82,91],"being":[25],"grasped":[26],"is":[27,53,130],"assumed":[28],"be":[30],"only":[32],"environment.":[36],"Hence":[37],"quality":[40,78],"metrics":[41],"grasping":[43],"strategies":[44],"developed":[45],"do":[46],"not":[47],"well":[49],"when":[50],"close":[54],"obstacles":[56],"many":[58],"good":[59],"grasps":[60,70,115],"are":[61],"infeasible.":[62],"We":[63,98,125],"introduce":[64],"a":[65,76,103,111,122],"framework":[66],"for":[67,80,121,132],"finding":[68],"valid":[69],"cluttered":[72],"environments":[73],"that":[74,127],"metric":[79],"with":[83],"information":[84,93],"about":[85,94],"local":[87],"environment":[88],"around":[89],"robot's":[96],"kinematics.":[97],"encode":[99],"these":[100],"factors":[101],"grasp-scoring":[104],"function":[105],"which":[106],"we":[107],"use":[108],"rank":[110],"precomputed":[112],"set":[113],"of":[114,118],"terms":[117],"their":[119],"appropriateness":[120],"given":[123],"scene.":[124],"show":[126],"this":[128],"ranking":[129],"essential":[131],"efficient":[133],"selection":[135],"present":[137],"experiments":[138],"simulation":[140],"HRP2":[144],"robot.":[145]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":19},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":20}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}