{"id":"https://openalex.org/W2115084899","doi":"https://doi.org/10.1109/icra.2012.6224801","title":"On the caging region of a third finger with object boundary clouds and two given contact positions","display_name":"On the caging region of a third finger with object boundary clouds and two given contact positions","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2115084899","doi":"https://doi.org/10.1109/icra.2012.6224801","mag":"2115084899"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224801","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224801","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5087787651","display_name":"Weiwei Wan","orcid":"https://orcid.org/0000-0002-0058-2819"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Weiwei Wan","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043323310","display_name":"Rui Fukui","orcid":"https://orcid.org/0000-0002-3940-8279"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rui Fukui","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032839697","display_name":"Masamichi Shimosaka","orcid":"https://orcid.org/0000-0003-0558-2006"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masamichi Shimosaka","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100994318","display_name":"Tomomasa Sato","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomomasa Sato","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010543059","display_name":"Yasuo Kuniyoshi","orcid":"https://orcid.org/0000-0001-8443-4161"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuo Kuniyoshi","raw_affiliation_strings":["Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-Ku, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5087787651"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":3.9792,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93365862,"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":"4154","last_page":"4161"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9994999766349792,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.6982171535491943},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.512449324131012},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4935034513473511},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4323987662792206},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4253816604614258},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41476112604141235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4116535782814026},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3820946216583252},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.36330533027648926},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29778674244880676},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.22206950187683105}],"concepts":[{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.6982171535491943},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.512449324131012},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4935034513473511},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4323987662792206},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4253816604614258},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41476112604141235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4116535782814026},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3820946216583252},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.36330533027648926},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29778674244880676},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.22206950187683105}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6224801","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224801","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1521785144","https://openalex.org/W1603243397","https://openalex.org/W1762028192","https://openalex.org/W2005070739","https://openalex.org/W2029909232","https://openalex.org/W2046178935","https://openalex.org/W2081155016","https://openalex.org/W2082291291","https://openalex.org/W2113643677","https://openalex.org/W2120617969","https://openalex.org/W2123967128","https://openalex.org/W2125085723","https://openalex.org/W2135921905","https://openalex.org/W2136981968","https://openalex.org/W2137933599","https://openalex.org/W2140173255","https://openalex.org/W2145793243","https://openalex.org/W2284129080","https://openalex.org/W4239035595","https://openalex.org/W6635902785","https://openalex.org/W6696214856"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2010009304","https://openalex.org/W2980963558","https://openalex.org/W3021694725","https://openalex.org/W1996851061","https://openalex.org/W2940695648","https://openalex.org/W1973684381","https://openalex.org/W2096304864","https://openalex.org/W4251403274","https://openalex.org/W1984178488"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14,22,150,155],"caging":[4,95,193],"approach":[5,98,191],"which":[6,153],"deals":[7],"with":[8,52,89,104,181],"planar":[9],"boundary":[10,19,53,138,144],"clouds":[11,20,54],"collected":[12],"from":[13,43],"laser":[15],"scanner.":[16],"Given":[17],"the":[18,64,78,93,101,120,127,135,141,158,174],"of":[21,66,81,122,129,137,143,157,167],"target":[23,42],"object":[24],"and":[25,63,85,132,184,195],"two":[26],"fixed":[27],"finger":[28,37],"positions,":[29],"our":[30,177],"aim":[31],"is":[32,179],"to":[33,77,91,186],"find":[34],"potential":[35],"third":[36,94],"positions":[38,160],"that":[39],"can":[40,99],"prevent":[41],"escaping":[44],"into":[45],"infinity.":[46],"The":[47,190],"major":[48],"challenge":[49],"in":[50,56,59],"working":[51],"lies":[55],"their":[57],"uncertainty":[58],"geometric":[60],"model":[61],"fitting":[62],"failure":[65],"critical":[67],"orientations.":[68],"In":[69,173],"this":[70],"paper,":[71],"we":[72,148],"track":[73],"canonical":[74,130],"motions":[75],"according":[76],"rotational":[79],"intersection":[80],"Configuration":[82],"space":[83,88],"fingers":[84],"rasterize":[86],"Work":[87],"grids":[90],"compute":[92],"positions.":[96],"Our":[97],"generate":[100],"capture":[102],"region":[103],"max(O(np),O(h":[105],"<sup":[106,112,169],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[107,113,170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[108,114,171],"))":[109],"\u2264":[110],"O(n":[111],")":[115],"cost":[116],"where":[117],"n":[118],"denotes":[119,126,134],"resolution":[121,128,136],"grid":[123],"rasterization,":[124],"p":[125],"rasterization":[131,139],"h":[133],"or":[140],"number":[142],"cloud":[145],"points.":[146],"Moreover,":[147],"propose":[149],"rough":[151],"approximation":[152],"measures":[154],"subset":[156],"possible":[159],"by":[161],"contracting":[162],"rotations,":[163],"indicating":[164],"computational":[165],"complexity":[166],"max(O(n),O(h":[168],")).":[172],"experimental":[175],"part,":[176],"proposal":[178],"compared":[180],"state-of-the-art":[182],"works":[183],"applied":[185],"many":[187],"other":[188],"objects.":[189],"makes":[192],"fast":[194],"effective.":[196]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}