{"id":"https://openalex.org/W2083955337","doi":"https://doi.org/10.1109/icra.2012.6225342","title":"Physically-based grasp quality evaluation under uncertainty","display_name":"Physically-based grasp quality evaluation under uncertainty","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2083955337","doi":"https://doi.org/10.1109/icra.2012.6225342","mag":"2083955337"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225342","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Physically-based_Grasp_Quality_Evaluation_under_Uncertainty/6557447","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101593358","display_name":"Jung-Gon Kim","orcid":"https://orcid.org/0000-0001-6951-6126"},"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":"Junggon Kim","raw_affiliation_strings":["Robotics In-stitute, Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,"],"affiliations":[{"raw_affiliation_string":"Robotics In-stitute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069243901","display_name":"Kunihiro Iwamoto","orcid":"https://orcid.org/0000-0003-3868-3372"},"institutions":[{"id":"https://openalex.org/I4210093665","display_name":"Toyota Motor Corporation (United States)","ror":"https://ror.org/0076knn86","country_code":"US","type":"company","lineage":["https://openalex.org/I4210093665","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kunihiro Iwamoto","raw_affiliation_strings":["Partner Robot and Advanced Engineering Group, Toyota Motor Engineering and Manufacturing North America, Inc., CA, USA","Partner Robot and Advanced Engineering Group, Toyota Motor Engineering and Manufacturing North America, CA 94043, US"],"affiliations":[{"raw_affiliation_string":"Partner Robot and Advanced Engineering Group, Toyota Motor Engineering and Manufacturing North America, Inc., CA, USA","institution_ids":["https://openalex.org/I4210093665"]},{"raw_affiliation_string":"Partner Robot and Advanced Engineering Group, Toyota Motor Engineering and Manufacturing North America, CA 94043, US","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021782513","display_name":"James Kuffner","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James J. Kuffner","raw_affiliation_strings":["Google, Inc., CA, USA","Google, Inc CA USA"],"affiliations":[{"raw_affiliation_string":"Google, Inc., CA, USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"Google, Inc CA USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101111238","display_name":"Yasuhiro Ota","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093665","display_name":"Toyota Motor Corporation (United States)","ror":"https://ror.org/0076knn86","country_code":"US","type":"company","lineage":["https://openalex.org/I4210093665","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yasuhiro Ota","raw_affiliation_strings":["Partner Robot and Advanced Engineering Group, Toyota Motor Engineering and Manufacturing North America, Inc., CA, USA","Partner Robot and Advanced Engineering Group, Toyota Motor Engineering and Manufacturing North America, CA 94043, US"],"affiliations":[{"raw_affiliation_string":"Partner Robot and Advanced Engineering Group, Toyota Motor Engineering and Manufacturing North America, Inc., CA, USA","institution_ids":["https://openalex.org/I4210093665"]},{"raw_affiliation_string":"Partner Robot and Advanced Engineering Group, Toyota Motor Engineering and Manufacturing North America, CA 94043, US","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011046225","display_name":"Nancy S. Pollard","orcid":"https://orcid.org/0000-0001-6464-839X"},"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":"Nancy S. Pollard","raw_affiliation_strings":["Robotics In-stitute, Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,"],"affiliations":[{"raw_affiliation_string":"Robotics In-stitute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101593358"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":4.5364,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.94518034,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9905999898910522,"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":0.9890999794006348,"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":0.9786268472671509},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7355794906616211},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6950985789299011},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.6051609516143799},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.567791759967804},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5511958003044128},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.431018590927124},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.405934602022171},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38300737738609314}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9786268472671509},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7355794906616211},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6950985789299011},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.6051609516143799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.567791759967804},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5511958003044128},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.431018590927124},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.405934602022171},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38300737738609314},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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":6,"locations":[{"id":"doi:10.1109/icra.2012.6225342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225342","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"},{"id":"pmh:oai:repository.cmu.edu:robotics-1864","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1864&context=robotics","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.219.4825","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.219.4825","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://graphics.cs.cmu.edu/nsp/papers/KimICRA12.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.360.8573","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.360.8573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/~junggon/publications/2012_ICRA_simulgrasp.pdf","raw_type":"text"},{"id":"pmh:oai:figshare.com:article/6557447","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Physically-based_Grasp_Quality_Evaluation_under_Uncertainty/6557447","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"doi:10.1184/r1/6557447.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6557447.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6557447","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Physically-based_Grasp_Quality_Evaluation_under_Uncertainty/6557447","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W1510186039","https://openalex.org/W1549675037","https://openalex.org/W1794703952","https://openalex.org/W1988731604","https://openalex.org/W2116817751","https://openalex.org/W2126496149","https://openalex.org/W2134060734","https://openalex.org/W2136354320","https://openalex.org/W2141664020","https://openalex.org/W2150690761","https://openalex.org/W2151412994","https://openalex.org/W2155823170","https://openalex.org/W2161047498","https://openalex.org/W2165501312","https://openalex.org/W2226137842","https://openalex.org/W2296350386","https://openalex.org/W6681950886","https://openalex.org/W6689458313"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2657478029","https://openalex.org/W3146859979","https://openalex.org/W4224220472","https://openalex.org/W2080808138","https://openalex.org/W2626503888","https://openalex.org/W4387962997"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"new":[3,83],"grasp":[4,72,90],"quality":[5,67,84],"measures":[6,85],"considering":[7],"both":[8],"object":[9,19],"dynamics":[10],"and":[11,33,65],"pose":[12,32],"uncertainty":[13,39],"are":[14],"proposed.":[15],"Dynamics":[16],"of":[17,30,69,81],"the":[18,28,66,70,76,82,88],"is":[20,40,63,73,93],"incorporated":[21],"into":[22],"our":[23],"grasping":[24,61],"simulation":[25,77],"to":[26],"capture":[27],"change":[29],"its":[31],"contact":[34],"points":[35],"during":[36],"grasping.":[37],"Pose":[38],"considered":[41],"by":[42],"running":[43],"multiple":[44],"simulations":[45],"starting":[46],"from":[47,53,75],"slightly":[48],"different":[49],"initial":[50],"poses":[51],"sampled":[52],"a":[54,96],"probability":[55],"distribution":[56],"model.":[57],"A":[58],"simple":[59],"robotic":[60],"strategy":[62],"simulated":[64],"score":[68],"resulting":[71],"evaluated":[74],"result.":[78],"The":[79],"effectiveness":[80],"on":[86],"predicting":[87],"actual":[89],"success":[91],"rate":[92],"shown":[94],"through":[95],"real":[97],"robot":[98],"experiment.":[99]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}