{"id":"https://openalex.org/W2156886697","doi":"https://doi.org/10.1109/iros.2003.1249729","title":"Grasping the dice by dicing the grasp","display_name":"Grasping the dice by dicing the grasp","publication_year":2004,"publication_date":"2004-04-23","ids":{"openalex":"https://openalex.org/W2156886697","doi":"https://doi.org/10.1109/iros.2003.1249729","mag":"2156886697"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1249729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5110827678","display_name":"Christoph Borst","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"C. Borst","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102752242","display_name":"Max Fischer","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Fischer","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112045231","display_name":"G. Hirzinger","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G. Hirzinger","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5110827678"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":17.549,"has_fulltext":false,"cited_by_count":138,"citation_normalized_percentile":{"value":0.99191277,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"3","issue":null,"first_page":"3692","last_page":"3697"},"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":0.9901999831199646,"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":0.9801999926567078,"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":0.9257214069366455},{"id":"https://openalex.org/keywords/dice","display_name":"Dice","score":0.731025218963623},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7020896077156067},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6251503229141235},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.597296416759491},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.49132290482521057},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4532696604728699},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.4495037794113159},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3675577640533447},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.19752231240272522},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17156770825386047},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1610375940799713}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9257214069366455},{"id":"https://openalex.org/C22029948","wikidata":"https://www.wikidata.org/wiki/Q45089","display_name":"Dice","level":2,"score":0.731025218963623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7020896077156067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6251503229141235},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.597296416759491},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.49132290482521057},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4532696604728699},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.4495037794113159},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3675577640533447},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.19752231240272522},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17156770825386047},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1610375940799713},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2003.1249729","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249729","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.6.4519","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.6.4519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robotic.dlr.de/Christoph.Borst/Publications/Borst-IROS03-GraspingTheDice.pdf","raw_type":"text"},{"id":"pmh:oai:elib.dlr.de:11964","is_oa":false,"landing_page_url":"https://elib.dlr.de/11964/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1542801064","https://openalex.org/W1563826237","https://openalex.org/W1794703952","https://openalex.org/W1925324831","https://openalex.org/W1964321719","https://openalex.org/W1996630649","https://openalex.org/W2020251869","https://openalex.org/W2072288830","https://openalex.org/W2098304071","https://openalex.org/W2120471834","https://openalex.org/W2136909956","https://openalex.org/W2137509139","https://openalex.org/W2140173255","https://openalex.org/W2151001101","https://openalex.org/W2734791212","https://openalex.org/W6649455214"],"related_works":["https://openalex.org/W3104750253","https://openalex.org/W3021239166","https://openalex.org/W2586273397","https://openalex.org/W2390936256","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259","https://openalex.org/W1640559846"],"abstract_inverted_index":{"Many":[0],"methods":[1],"for":[2,48,78,108],"generating":[3],"and":[4,17,33,106],"analyzing":[5],"grasps":[6],"have":[7],"been":[8],"developed":[9],"in":[10,54],"the":[11,44,50,109],"recent":[12],"years.":[13],"They":[14],"gave":[15],"insight":[16],"comprehension":[18],"of":[19,26,34,111],"grasping":[20,81,113],"with":[21],"robot":[22,80,112],"hands":[23],"but":[24],"many":[25],"them":[27],"are":[28],"rather":[29],"complicated":[30],"to":[31,59,68,73],"implement":[32],"high":[35],"computational":[36],"complexity.":[37],"In":[38],"this":[39],"paper":[40],"we":[41],"study":[42],"if":[43],"basic":[45],"quality":[46,76,86],"criterion":[47],"grasps,":[49,71],"force-closure":[51],"property,":[52],"is":[53,65,88,104],"principle":[55],"easy":[56],"or":[57],"difficult":[58],"reach.":[60],"We":[61,90],"show":[62],"that":[63,94,98],"it":[64],"not":[66],"necessary":[67],"generate":[69],"optimal":[70],"due":[72],"a":[74,99],"certain":[75],"measure,":[77],"real":[79],"tasks":[82],"where":[83],"an":[84],"average":[85],"grasp":[87,101],"acceptable.":[89],"present":[91],"statistical":[92],"data":[93],"confirm":[95],"our":[96],"opinion":[97],"randomized":[100],"generation":[102],"algorithm":[103],"fast":[105],"suitable":[107],"planning":[110],"tasks.":[114]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":8}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2025-10-10T00:00:00"}