{"id":"https://openalex.org/W2416512528","doi":"https://doi.org/10.1109/icra.2016.7487336","title":"Micro-hand positioning in consideration of the obstacle avoidance and the grasping part by using the automatic stage","display_name":"Micro-hand positioning in consideration of the obstacle avoidance and the grasping part by using the automatic stage","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2416512528","doi":"https://doi.org/10.1109/icra.2016.7487336","mag":"2416512528"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487336","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5037317859","display_name":"Kotaro T. Yamamoto","orcid":"https://orcid.org/0000-0003-3817-333X"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kotaro Yamamoto","raw_affiliation_strings":["Department of Systems Innovation, Osaka University,1-3, Toyonaka, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Innovation, Osaka University,1-3, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000726773","display_name":"Masaru Kojima","orcid":"https://orcid.org/0000-0002-1314-3540"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaru Kojima","raw_affiliation_strings":["Osaka Daigaku, Suita, Osaka, JP"],"affiliations":[{"raw_affiliation_string":"Osaka Daigaku, Suita, Osaka, JP","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007358152","display_name":"Mitsuhiro Horade","orcid":"https://orcid.org/0000-0002-7707-4230"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuhiro Horade","raw_affiliation_strings":["Department of Systems Innovation, Osaka University,1-3, Toyonaka, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Innovation, Osaka University,1-3, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112274576","display_name":"Kazuto Kamiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuto Kamiyama","raw_affiliation_strings":["Osaka Daigaku, Suita, Osaka, JP"],"affiliations":[{"raw_affiliation_string":"Osaka Daigaku, Suita, Osaka, JP","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044203013","display_name":"Yasushi Mae","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasushi Mae","raw_affiliation_strings":["Department of Systems Innovation, Osaka University,1-3, Toyonaka, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Innovation, Osaka University,1-3, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017331725","display_name":"Tatsuo Arai","orcid":"https://orcid.org/0000-0001-7863-5696"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuo Arai","raw_affiliation_strings":["Department of Systems Innovation, Osaka University,1-3, Toyonaka, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Innovation, Osaka University,1-3, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5037317859"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":0.2678,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.57389709,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1893","last_page":"1898"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9921000003814697,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8507900238037109},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7940524816513062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6814293265342712},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6660650372505188},{"id":"https://openalex.org/keywords/convex-hull","display_name":"Convex hull","score":0.6066482067108154},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6065535545349121},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5955662727355957},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5151740312576294},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4866231381893158},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.47927066683769226},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4632467031478882},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4626522958278656},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4598759710788727},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.43500828742980957},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2530551254749298},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1461186408996582},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07985731959342957}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8507900238037109},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7940524816513062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6814293265342712},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6660650372505188},{"id":"https://openalex.org/C206194317","wikidata":"https://www.wikidata.org/wiki/Q1138624","display_name":"Convex hull","level":3,"score":0.6066482067108154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6065535545349121},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5955662727355957},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5151740312576294},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4866231381893158},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.47927066683769226},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4632467031478882},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4626522958278656},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4598759710788727},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.43500828742980957},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2530551254749298},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1461186408996582},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07985731959342957},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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":1,"locations":[{"id":"doi:10.1109/icra.2016.7487336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487336","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W370714070","https://openalex.org/W2159498975","https://openalex.org/W2161093753","https://openalex.org/W2312241702","https://openalex.org/W2317410191","https://openalex.org/W2318180993","https://openalex.org/W2643514567","https://openalex.org/W2695712931","https://openalex.org/W3013746598","https://openalex.org/W6683344514","https://openalex.org/W6740121720","https://openalex.org/W6775498484"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"Recently,":[0],"manipulation":[1],"and":[2,83,120,165,195,197],"observation":[3],"of":[4,31,38,66,73,90,102,106,114,122,139,155,171,188],"the":[5,14,18,25,32,35,39,55,63,67,70,74,80,84,87,93,100,103,111,115,123,137,140,149,152,158,167,172,189,199,203],"cells":[6],"are":[7],"actively":[8],"conducted":[9],"in":[10,58,86,151],"order":[11,97],"to":[12,24,61,98,191,193,202],"analyze":[13],"biological":[15],"phenomena.":[16],"Since":[17],"micro":[19,40,45,56,75,81,107,141,200],"hand":[20,41,46,57,82,201],"is":[21,47],"usually":[22],"fixed":[23],"work":[26],"environment,":[27],"grasping":[28,168],"target":[29,64,112],"point":[30,65,113],"cell":[33,68,116],"on":[34,69],"opposite":[36,71],"side":[37,72],"by":[42,49,118,157,174],"using":[43,161],"a":[44],"limited":[48,104],"narrow":[50],"workspace.":[51],"If":[52],"we":[53,77,109,129],"move":[54],"vertical":[59],"direction":[60],"grasp":[62,194],"hand,":[76,108],"cannot":[78],"focus":[79],"object":[85,150,190],"microscopic":[88,153],"field":[89,154],"view":[91,156],"at":[92],"same":[94],"time.":[95],"In":[96,126],"overcome":[99],"limitations":[101],"workspace":[105],"assist":[110],"grasped":[117],"translation":[119],"rotation":[121],"automatic":[124,132,144],"stage.":[125],"this":[127,178],"paper,":[128],"propose":[130],"an":[131],"stage":[133,145],"system":[134,146,179],"for":[135],"support":[136],"operation":[138],"hand.":[142],"Our":[143],"can":[147,180],"detect":[148],"template":[159],"matching":[160],"Hu":[162],"moment":[163],"invariant":[164],"determine":[166],"convex":[169,175,186],"part":[170,187],"object.":[173,204],"hull.":[176],"Additionally":[177],"do":[181],"2d":[182],"path":[183],"planning":[184],"considering":[185],"want":[192],"obstacles,":[196],"lead":[198]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
