{"id":"https://openalex.org/W2065736001","doi":"https://doi.org/10.1109/icra.2013.6630710","title":"Grasping objects with holes: A topological approach","display_name":"Grasping objects with holes: A topological approach","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2065736001","doi":"https://doi.org/10.1109/icra.2013.6630710","mag":"2065736001"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630710","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5018027629","display_name":"Florian T. Pokorny","orcid":"https://orcid.org/0000-0003-1114-6040"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Florian T. Pokorny","raw_affiliation_strings":["Computer Vision and Active Perception  Laboratory, Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology, Stockholm, Sweden","Comput. Vision & Active Perception Lab., KTH (R. Inst. of Technol.), Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception  Laboratory, Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Comput. Vision & Active Perception Lab., KTH (R. Inst. of Technol.), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023785357","display_name":"Johannes A. Stork","orcid":"https://orcid.org/0000-0003-3958-6179"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Johannes A. Stork","raw_affiliation_strings":["Computer Vision and Active Perception  Laboratory, Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology, Stockholm, Sweden","Comput. Vision & Active Perception Lab., KTH (R. Inst. of Technol.), Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception  Laboratory, Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Comput. Vision & Active Perception Lab., KTH (R. Inst. of Technol.), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["Computer Vision and Active Perception  Laboratory, Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology, Stockholm, Sweden","Comput. Vision & Active Perception Lab., KTH (R. Inst. of Technol.), Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception  Laboratory, Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Comput. Vision & Active Perception Lab., KTH (R. Inst. of Technol.), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018027629"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":8.0793,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.97357588,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"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":0.9972000122070312,"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":0.9972000122070312,"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/T12536","display_name":"Topological and Geometric Data Analysis","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/grasp","display_name":"GRASP","score":0.773646354675293},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7649601697921753},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6837573647499084},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5694266557693481},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5307958722114563},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5074560046195984},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4556482434272766},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4428463876247406},{"id":"https://openalex.org/keywords/persistent-homology","display_name":"Persistent homology","score":0.4149159789085388},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23295164108276367},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20773425698280334}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.773646354675293},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7649601697921753},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6837573647499084},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5694266557693481},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5307958722114563},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5074560046195984},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4556482434272766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4428463876247406},{"id":"https://openalex.org/C2874115","wikidata":"https://www.wikidata.org/wiki/Q17099562","display_name":"Persistent homology","level":2,"score":0.4149159789085388},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23295164108276367},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20773425698280334},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/icra.2013.6630710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630710","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W645084999","https://openalex.org/W1510186039","https://openalex.org/W1554725362","https://openalex.org/W1820657498","https://openalex.org/W1877090692","https://openalex.org/W1969261142","https://openalex.org/W1976067114","https://openalex.org/W1985641335","https://openalex.org/W2005356779","https://openalex.org/W2005824379","https://openalex.org/W2018613909","https://openalex.org/W2037882812","https://openalex.org/W2076215121","https://openalex.org/W2097197636","https://openalex.org/W2100522523","https://openalex.org/W2110208234","https://openalex.org/W2110274708","https://openalex.org/W2112645080","https://openalex.org/W2118262422","https://openalex.org/W2123967128","https://openalex.org/W2130007788","https://openalex.org/W2154006563","https://openalex.org/W2156219259","https://openalex.org/W2156222070","https://openalex.org/W2161071618","https://openalex.org/W2172108647","https://openalex.org/W2281691131","https://openalex.org/W2293210482","https://openalex.org/W2544492735","https://openalex.org/W3040586665","https://openalex.org/W4285719527","https://openalex.org/W6633289732","https://openalex.org/W6651644030","https://openalex.org/W6684043814","https://openalex.org/W6729298387"],"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/W2477150073","https://openalex.org/W3210518039","https://openalex.org/W2567662842"],"abstract_inverted_index":{"This":[0],"work":[1],"proposes":[2],"a":[3,17,22,32,53,92,104],"topologically":[4,54],"inspired":[5],"approach":[6,100],"for":[7,36,87],"generating":[8],"robot":[9,51],"grasps":[10,90],"on":[11,103],"objects":[12,110],"with":[13,121],"`holes'.":[14],"Starting":[15],"from":[16,72],"noisy":[18],"point-cloud,":[19],"we":[20],"generate":[21],"simplicial":[23],"representation":[24],"of":[25,28,49,111],"an":[26,118],"object":[27],"interest":[29],"and":[30,114,116],"use":[31],"recently":[33],"developed":[34],"method":[35],"approximating":[37],"shortest":[38],"homology":[39],"generators":[40],"to":[41,62,83],"identify":[42],"graspable":[43],"loops.":[44,68],"To":[45],"control":[46],"the":[47,50,64,76],"movement":[48],"hand,":[52],"motivated":[55],"coordinate":[56],"system":[57],"is":[58,81],"used":[59],"in":[60,101],"order":[61],"wrap":[63],"hand":[65,106],"around":[66],"such":[67],"Finally,":[69],"another":[70],"concept":[71],"topology":[73],"-":[74,80],"namely":[75],"Gauss":[77],"linking":[78],"integral":[79],"adapted":[82],"serve":[84],"as":[85],"evidence":[86],"secure":[88],"caging":[89],"after":[91],"grasp":[93],"has":[94],"been":[95],"executed.":[96],"We":[97],"evaluate":[98],"our":[99],"simulation":[102],"Barrett":[105],"using":[107],"several":[108],"target":[109],"different":[112],"sizes":[113],"shapes":[115],"present":[117],"initial":[119],"experiment":[120],"real":[122],"sensor":[123],"data.":[124]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
