{"id":"https://openalex.org/W3152203516","doi":"https://doi.org/10.1109/icm46511.2021.9385703","title":"Underwater Suction Gripper for Object Manipulation with an Underwater Robot","display_name":"Underwater Suction Gripper for Object Manipulation with an Underwater Robot","publication_year":2021,"publication_date":"2021-03-07","ids":{"openalex":"https://openalex.org/W3152203516","doi":"https://doi.org/10.1109/icm46511.2021.9385703","mag":"3152203516"},"language":"en","primary_location":{"id":"doi:10.1109/icm46511.2021.9385703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icm46511.2021.9385703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Mechatronics (ICM)","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/A5091126675","display_name":"Hikaru Kumamoto","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hikaru Kumamoto","raw_affiliation_strings":["Nara Institute of Science and Technology (NAIST), Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology (NAIST), Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058000695","display_name":"Naoki Shirakura","orcid":"https://orcid.org/0000-0002-3804-3474"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoki Shirakura","raw_affiliation_strings":["Nara Institute of Science and Technology (NAIST), Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology (NAIST), Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047085140","display_name":"Jun Takamatsu","orcid":"https://orcid.org/0000-0001-7457-2878"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Takamatsu","raw_affiliation_strings":["Nara Institute of Science and Technology (NAIST), Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology (NAIST), Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044340470","display_name":"Tsukasa Ogasawara","orcid":"https://orcid.org/0000-0001-9767-6039"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tsukasa Ogasawara","raw_affiliation_strings":["Nara Institute of Science and Technology (NAIST), Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology (NAIST), Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5091126675"],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":0.4178,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.55576134,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/underwater","display_name":"Underwater","score":0.832821249961853},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7876279354095459},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7035393118858337},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.608573853969574},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6003986597061157},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5955109000205994},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5926414728164673},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5872003436088562},{"id":"https://openalex.org/keywords/suction-cup","display_name":"Suction cup","score":0.5219057202339172},{"id":"https://openalex.org/keywords/suction","display_name":"Suction","score":0.49660640954971313},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.43852218985557556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4158988893032074},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35703909397125244},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3443060517311096},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3219382166862488},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1414743959903717},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09341993927955627}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.832821249961853},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7876279354095459},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7035393118858337},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.608573853969574},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6003986597061157},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5955109000205994},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5926414728164673},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5872003436088562},{"id":"https://openalex.org/C87321777","wikidata":"https://www.wikidata.org/wiki/Q635971","display_name":"Suction cup","level":2,"score":0.5219057202339172},{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.49660640954971313},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.43852218985557556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4158988893032074},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35703909397125244},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3443060517311096},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3219382166862488},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1414743959903717},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09341993927955627},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icm46511.2021.9385703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icm46511.2021.9385703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1518169716","https://openalex.org/W1538672858","https://openalex.org/W1970745880","https://openalex.org/W1981574184","https://openalex.org/W2042903360","https://openalex.org/W2140869143","https://openalex.org/W2186665496","https://openalex.org/W2212932033","https://openalex.org/W2293700583","https://openalex.org/W2512056218","https://openalex.org/W2565946144","https://openalex.org/W2607515124","https://openalex.org/W2770045095","https://openalex.org/W2791384326","https://openalex.org/W2807729139","https://openalex.org/W2891012632","https://openalex.org/W2896815268","https://openalex.org/W2898921252","https://openalex.org/W2940726020","https://openalex.org/W2951553658","https://openalex.org/W2993476843","https://openalex.org/W3021554653","https://openalex.org/W3106759664","https://openalex.org/W6731793846","https://openalex.org/W6771689172","https://openalex.org/W6785717083"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259","https://openalex.org/W2069698258","https://openalex.org/W2892546005","https://openalex.org/W4312555732","https://openalex.org/W2095492957","https://openalex.org/W2922139741"],"abstract_inverted_index":{"The":[0,100,124],"diversity":[1],"of":[2,23,81],"end-effectors":[3,24],"for":[4,25,40],"manipulation":[5,17,98],"enables":[6],"a":[7,45,71,97,112,120],"robot":[8,94],"to":[9,67,95,119],"grasp":[10],"objects":[11],"with":[12],"various":[13,21],"shapes.":[14],"As":[15],"underwater":[16,26,36,93],"becomes":[18],"more":[19],"common,":[20],"types":[22],"robots":[27],"are":[28],"required.":[29],"In":[30,73],"this":[31],"paper,":[32],"we":[33,76,86],"develop":[34],"an":[35,91],"suction":[37,48],"gripper":[38,66],"(USG)":[39],"object":[41],"manipulation.":[42],"By":[43],"using":[44],"thruster,":[46],"the":[47,54,58,64,74,78,82,88,104,108],"force":[49],"is":[50],"easily":[51],"controlled":[52],"by":[53],"electric":[55],"drive,":[56],"and":[57,61,114],"resulting":[59],"size":[60],"weight":[62],"allow":[63],"proposed":[65],"be":[68,128],"installed":[69,87],"on":[70,90],"robot.":[72],"experiments,":[75],"evaluate":[77],"grasping":[79,116],"performance":[80],"USG":[83,89,105],"quantitatively.":[84],"Furthermore,":[85],"actual":[92],"perform":[96,107],"task.":[99],"results":[101],"showed":[102],"that":[103],"can":[106,127],"pick-and-place":[109],"task":[110],"in":[111],"shorter":[113],"easier":[115],"motion":[117],"compared":[118],"typical":[121],"2-finger":[122],"gripper.":[123],"implementation":[125],"code":[126],"found":[129],"here:":[130],"https://github.com/kumahika/usg":[131]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
