{"id":"https://openalex.org/W2091404895","doi":"https://doi.org/10.1109/icsmc.2012.6378048","title":"Grasp planning pre-computation by considering center of gravity of objects and its evaluation using OpenRAVE","display_name":"Grasp planning pre-computation by considering center of gravity of objects and its evaluation using OpenRAVE","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2091404895","doi":"https://doi.org/10.1109/icsmc.2012.6378048","mag":"2091404895"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2012.6378048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2012.6378048","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 Systems, Man, and Cybernetics (SMC)","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/A5032098247","display_name":"Kosuke Tsuchiya","orcid":null},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]},{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kosuke Tsuchiya","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo University of Science, Japan","Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Kyoto, Tokyo, Japan","Japan Science and Technology Agency, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo University of Science, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Kyoto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Japan Science and Technology Agency, Japan","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113822737","display_name":"Satoshi Kagami","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]},{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Kagami","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo University of Science, Japan","Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Kyoto, Tokyo, Japan","Graduate School of Information Science, NARA Institute of Science and Technology, Japan","Japan Science and Technology Agency, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo University of Science, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Kyoto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Graduate School of Information Science, NARA Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Japan Science and Technology Agency, Japan","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089023653","display_name":"Wataru Yoshizaki","orcid":null},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wataru Yoshizaki","raw_affiliation_strings":["Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Kyoto, Tokyo, Japan","Graduate School of Information Science, NARA Institute of Science and Technology, Japan","Japan Science and Technology Agency, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Kyoto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Graduate School of Information Science, NARA Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Japan Science and Technology Agency, Japan","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057754307","display_name":"Hiroshi Mizoguchi","orcid":"https://orcid.org/0000-0002-1322-6098"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Mizoguchi","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo University of Science, Japan","Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Kyoto, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo University of Science, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Kyoto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032098247"],"corresponding_institution_ids":["https://openalex.org/I161296585","https://openalex.org/I4210086780","https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.15956824,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2091","last_page":"2096"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9966999888420105,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9948999881744385,"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/grasp","display_name":"GRASP","score":0.9467537999153137},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.8384888172149658},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.8373810052871704},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6593557000160217},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5482667684555054},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5374176502227783},{"id":"https://openalex.org/keywords/ranking","display_name":"Ranking (information retrieval)","score":0.5035521388053894},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4937349259853363},{"id":"https://openalex.org/keywords/center","display_name":"Center (category theory)","score":0.4884285032749176},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.44880372285842896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4162895083427429},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3380112051963806},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24389490485191345},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05559408664703369}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9467537999153137},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.8384888172149658},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.8373810052871704},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6593557000160217},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5482667684555054},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5374176502227783},{"id":"https://openalex.org/C189430467","wikidata":"https://www.wikidata.org/wiki/Q7293293","display_name":"Ranking (information retrieval)","level":2,"score":0.5035521388053894},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4937349259853363},{"id":"https://openalex.org/C2779463800","wikidata":"https://www.wikidata.org/wiki/Q5062222","display_name":"Center (category theory)","level":2,"score":0.4884285032749176},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.44880372285842896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4162895083427429},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3380112051963806},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24389490485191345},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05559408664703369},{"id":"https://openalex.org/C8010536","wikidata":"https://www.wikidata.org/wiki/Q160398","display_name":"Crystallography","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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/icsmc.2012.6378048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2012.6378048","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 Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1762028192","https://openalex.org/W2048517616","https://openalex.org/W2134447392","https://openalex.org/W2135677376","https://openalex.org/W2166485929","https://openalex.org/W2542011642","https://openalex.org/W3140402894"],"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/W2019547100","https://openalex.org/W2003033547","https://openalex.org/W569945113"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,17],"grasp":[4,26],"planning":[5,27],"method":[6,24,101],"that":[7,77,98],"takes":[8],"into":[9],"account":[10],"center":[11,45,109],"of":[12,14,46,48,110],"gravity":[13,47],"objects":[15,105],"in":[16,28,53,58,73],"pre-computation":[18,33],"phase,":[19,34],"thereby":[20],"improving":[21],"an":[22,49],"existing":[23],"for":[25],"complex":[29],"scenes[1].":[30],"In":[31],"the":[32,35,39,44,70,74,79,87,99],"system":[36,72],"additionally":[37],"calculates":[38],"distance":[40],"from":[41],"fingertips":[42],"to":[43,51,60,107],"object":[50],"use":[52],"ranking":[54],"different":[55],"proposed":[56,71,100],"grasps,":[57],"order":[59],"achieve":[61],"stable":[62],"grasping":[63],"with":[64,86,92],"less":[65],"force.":[66],"Then":[67],"we":[68],"implement":[69],"OpenRAVE[2]":[75],"environment":[76],"provides":[78],"original":[80,94],"method[1].":[81],"Evaluation":[82],"experiments":[83],"were":[84],"conducted":[85],"Kawada":[88],"Nextage[3]":[89],"robot":[90],"fitted":[91],"our":[93],"hand.":[95],"Results":[96],"show":[97],"always":[102],"grasps":[103],"target":[104],"closer":[106],"their":[108],"gravity.":[111]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}