{"id":"https://openalex.org/W4383108771","doi":"https://doi.org/10.1109/icra48891.2023.10160930","title":"Towards Robust Autonomous Grasping with Reflexes Using High-Bandwidth Sensing and Actuation","display_name":"Towards Robust Autonomous Grasping with Reflexes Using High-Bandwidth Sensing and Actuation","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108771","doi":"https://doi.org/10.1109/icra48891.2023.10160930"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5005989835","display_name":"Andrew SaLoutos","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andrew SaLoutos","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT),Biomimetic Robotics Laboratory,Department of Mechanical Engineering,Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT),Biomimetic Robotics Laboratory,Department of Mechanical Engineering,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101838267","display_name":"Hong-Min Kim","orcid":"https://orcid.org/0000-0002-9736-6513"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongmin Kim","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT),Biomimetic Robotics Laboratory,Department of Mechanical Engineering,Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT),Biomimetic Robotics Laboratory,Department of Mechanical Engineering,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073886334","display_name":"Elijah Stanger\u2013Jones","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elijah Stanger-Jones","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT),Biomimetic Robotics Laboratory,Department of Mechanical Engineering,Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT),Biomimetic Robotics Laboratory,Department of Mechanical Engineering,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100757517","display_name":"Menglong Guo","orcid":"https://orcid.org/0009-0008-6059-5508"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Menglong Guo","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT),Biomimetic Robotics Laboratory,Department of Mechanical Engineering,Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT),Biomimetic Robotics Laboratory,Department of Mechanical Engineering,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT),Biomimetic Robotics Laboratory,Department of Mechanical Engineering,Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT),Biomimetic Robotics Laboratory,Department of Mechanical Engineering,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5005989835"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":1.3147,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.80015719,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"10254","last_page":"10260"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9983999729156494,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9970999956130981,"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/computer-science","display_name":"Computer science","score":0.6371626257896423},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.567660927772522},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.5347650647163391},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5217276811599731},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5165213942527771},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48395803570747375},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48084720969200134},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.42437657713890076},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3846965432167053},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3686296343803406},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26779693365097046}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6371626257896423},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.567660927772522},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.5347650647163391},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5217276811599731},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5165213942527771},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48395803570747375},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48084720969200134},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.42437657713890076},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3846965432167053},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3686296343803406},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26779693365097046},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2052863493","https://openalex.org/W2069333231","https://openalex.org/W2097856935","https://openalex.org/W2127067435","https://openalex.org/W2134167019","https://openalex.org/W2170167261","https://openalex.org/W2282481780","https://openalex.org/W2416750201","https://openalex.org/W2558807622","https://openalex.org/W2626073992","https://openalex.org/W2747172592","https://openalex.org/W2775635818","https://openalex.org/W2912997088","https://openalex.org/W2953669419","https://openalex.org/W2962737955","https://openalex.org/W2962746398","https://openalex.org/W2963033241","https://openalex.org/W2963446658","https://openalex.org/W2963765355","https://openalex.org/W2968213087","https://openalex.org/W3092147996","https://openalex.org/W3134664367","https://openalex.org/W3140664348","https://openalex.org/W3205950068","https://openalex.org/W4285232917","https://openalex.org/W4312448141","https://openalex.org/W4383109319","https://openalex.org/W4386076325","https://openalex.org/W6663777568","https://openalex.org/W6695491022","https://openalex.org/W6739378191","https://openalex.org/W6849520326"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W4387947522"],"abstract_inverted_index":{"Modern":[0],"robotic":[1],"manipulation":[2,8],"systems":[3],"fall":[4],"short":[5],"of":[6,91,103,106,116,128],"human":[7],"skills":[9],"partly":[10],"because":[11],"they":[12],"rely":[13,34],"on":[14,35,54],"closing":[15],"feedback":[16],"loops":[17],"exclusively":[18],"around":[19,64],"vision":[20,55],"data,":[21,41],"which":[22],"reduces":[23],"system":[24,44,62,98],"bandwidth":[25],"and":[26,39,46,114],"speed.":[27],"By":[28],"developing":[29,59],"autonomous":[30,86,151],"grasping":[31,119,142],"reflexes":[32],"that":[33,72,122],"high-bandwidth":[36],"force,":[37],"contact,":[38],"proximity":[40],"the":[42,96,101,104,126,135],"overall":[43],"speed":[45],"robustness":[47],"can":[48],"be":[49],"increased":[50],"while":[51,162],"reducing":[52],"reliance":[53],"data.":[56],"We":[57,94,137],"are":[58],"a":[60,65,74,110,145,156],"new":[61],"built":[63],"low-inertia,":[66],"high-speed":[67],"arm":[68],"with":[69,84,144],"nimble":[70],"fingers":[71],"combines":[73],"high-level":[75],"trajectory":[76],"planner":[77,148],"operating":[78],"at":[79],"less":[80],"than":[81],"1":[82],"Hz":[83],"low-level":[85],"reflex":[87,97],"controllers":[88],"running":[89],"upwards":[90],"300":[92],"Hz.":[93],"characterize":[95],"by":[99,131],"comparing":[100],"volume":[102],"set":[105,127],"successful":[107,129],"grasps":[108,130],"for":[109],"naive":[111],"baseline":[112],"controller":[113,124,143],"variations":[115],"our":[117,123,140],"reflexive":[118,141],"controller,":[120],"finding":[121],"expands":[125],"55%":[132],"relative":[133],"to":[134],"baseline.":[136],"also":[138],"deploy":[139],"simple":[146],"vision-based":[147],"in":[149],"an":[150],"clutter":[152],"clearing":[153,163],"task,":[154],"achieving":[155],"grasp":[157],"success":[158],"rate":[159],"above":[160],"90%":[161],"over":[164],"100":[165],"items.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}