{"id":"https://openalex.org/W2134676105","doi":"https://doi.org/10.1109/icra.2011.5979614","title":"Finding enveloping grasps by matching continuous surfaces","display_name":"Finding enveloping grasps by matching continuous surfaces","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2134676105","doi":"https://doi.org/10.1109/icra.2011.5979614","mag":"2134676105"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979614","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://laas.hal.science/hal-01985779","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100421665","display_name":"Yi Li","orcid":"https://orcid.org/0000-0002-9319-0354"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Yi Li","raw_affiliation_strings":["INSA, INP, ISAE ; LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","LAAS, CNRS, Toulouse, France","INSA, INP, ISAE","LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"INSA, INP, ISAE ; LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"INSA, INP, ISAE","institution_ids":[]},{"raw_affiliation_string":"LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069762545","display_name":"Jean-Philippe Saut","orcid":"https://orcid.org/0000-0002-7421-1391"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Philippe Saut","raw_affiliation_strings":["INSA, INP, ISAE ; LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","LAAS, CNRS, Toulouse, France","INSA, INP, ISAE","LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"INSA, INP, ISAE ; LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"INSA, INP, ISAE","institution_ids":[]},{"raw_affiliation_string":"LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073142247","display_name":"Juan Cort\u00e9s","orcid":"https://orcid.org/0000-0002-4660-0306"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Juan Cortes","raw_affiliation_strings":["INSA, INP, ISAE ; LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","LAAS, CNRS, Toulouse, France","LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","INSA, INP, ISAE"],"affiliations":[{"raw_affiliation_string":"INSA, INP, ISAE ; LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]},{"raw_affiliation_string":"INSA, INP, ISAE","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053083218","display_name":"Thierry Sim\u00e9on","orcid":"https://orcid.org/0000-0001-9815-753X"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thierry Simeon","raw_affiliation_strings":["INSA, INP, ISAE ; LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","LAAS, CNRS, Toulouse, France","INSA, INP, ISAE","LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"INSA, INP, ISAE ; LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"INSA, INP, ISAE","institution_ids":[]},{"raw_affiliation_string":"LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027759574","display_name":"Daniel Sidobre","orcid":"https://orcid.org/0000-0002-5564-2735"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Daniel Sidobre","raw_affiliation_strings":["INSA, INP, ISAE ; LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","LAAS, CNRS, Toulouse, France","LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","INSA, INP, ISAE"],"affiliations":[{"raw_affiliation_string":"INSA, INP, ISAE ; LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"LAAS,UPS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]},{"raw_affiliation_string":"INSA, INP, ISAE","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100421665"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":3.9416,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.93871414,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2825","last_page":"2830"},"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9879000186920166,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.965399980545044,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8046103715896606},{"id":"https://openalex.org/keywords/geodesic","display_name":"Geodesic","score":0.7485761642456055},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5887584090232849},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5839646458625793},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.551504373550415},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.540858268737793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5050390362739563},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.49115559458732605},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.451764851808548},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.45077961683273315},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45058318972587585},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3773311376571655},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14280754327774048},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1419326663017273}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8046103715896606},{"id":"https://openalex.org/C165818556","wikidata":"https://www.wikidata.org/wiki/Q213488","display_name":"Geodesic","level":2,"score":0.7485761642456055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5887584090232849},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5839646458625793},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.551504373550415},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.540858268737793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5050390362739563},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.49115559458732605},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.451764851808548},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45077961683273315},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45058318972587585},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3773311376571655},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14280754327774048},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1419326663017273},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5979614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979614","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.640.4688","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.640.4688","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.isir.upmc.fr/files/2011ACTI2110.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:hal-01985779v1","is_oa":true,"landing_page_url":"https://laas.hal.science/hal-01985779","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2011, Shangai, China","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01985779v1","is_oa":true,"landing_page_url":"https://laas.hal.science/hal-01985779","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2011, Shangai, China","raw_type":"Conference papers"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W159399829","https://openalex.org/W562639461","https://openalex.org/W1510186039","https://openalex.org/W1529375555","https://openalex.org/W1794703952","https://openalex.org/W1999690352","https://openalex.org/W2045598453","https://openalex.org/W2066977772","https://openalex.org/W2090782210","https://openalex.org/W2118262422","https://openalex.org/W2129761755","https://openalex.org/W2146002008","https://openalex.org/W2149729559","https://openalex.org/W2151783584","https://openalex.org/W2155559957","https://openalex.org/W2156219259","https://openalex.org/W2159242978","https://openalex.org/W2163913482","https://openalex.org/W2165603175","https://openalex.org/W2172108647","https://openalex.org/W2229412420","https://openalex.org/W2952085067","https://openalex.org/W4233857083","https://openalex.org/W6682141014","https://openalex.org/W6683044186"],"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/W2477150073","https://openalex.org/W2169666582"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,11,23,42,61,68,73,111,114,122,130],"new":[4],"method":[5,16,49],"to":[6,100,106,135,157],"compute":[7],"enveloping":[8],"grasps":[9],"with":[10,140],"multi-fingered":[12],"robotic":[13],"hand.":[14],"The":[15],"is":[17,65,133,153],"guided":[18],"by":[19,128],"the":[20,28,32,36,47,51,77,87,118,137,141,147,150,160],"idea":[21],"that":[22,54,64,84],"good":[24],"grasp":[25,151],"should":[26],"maximize":[27,55],"contact":[29],"surface":[30,57,62,119],"between":[31],"held":[33],"object":[34],"and":[35,71],"hand's":[37],"palmar":[38],"surface.":[39],"Starting":[40],"from":[41],"given":[43],"hand":[44,52,125,138],"pregrasp":[45],"configuration,":[46],"proposed":[48],"finds":[50],"poses":[53],"this":[56],"similarity.":[58],"We":[59],"use":[60],"descriptor":[63],"based":[66],"on":[67,72,86],"geodesic":[69,98],"measure":[70],"continuous":[74],"representation":[75,92],"of":[76,124,143,146],"surfaces,":[78],"unlike":[79],"previous":[80],"shape":[81],"matching":[82,120],"methods":[83],"rely":[85],"Euclidean":[88],"distance":[89],"and/or":[90],"discrete":[91],"(e.g.":[93],"random":[94],"point":[95],"set).":[96],"Using":[97],"contours":[99],"describe":[101],"local":[102],"surfaces":[103],"enables":[104],"us":[105],"detect":[107],"details":[108],"such":[109],"as":[110],"handle":[112],"or":[113],"thin":[115],"part.":[116],"Once":[117],"returns":[121],"set":[123],"poses,":[126],"sorted":[127],"similarity,":[129],"second":[131],"step":[132],"performed":[134],"adjust":[136],"configuration":[139],"purpose":[142],"eliminating":[144],"penetration":[145],"object.":[148],"Lastly,":[149],"stability":[152],"tested":[154],"in":[155],"order":[156],"definitely":[158],"validate":[159],"candidate":[161],"grasps.":[162]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
