{"id":"https://openalex.org/W2106107770","doi":"https://doi.org/10.1109/iros.2004.1389986","title":"An efficient method to compute three fingered planar object grasps using active contour models","display_name":"An efficient method to compute three fingered planar object grasps using active contour models","publication_year":2005,"publication_date":"2005-04-12","ids":{"openalex":"https://openalex.org/W2106107770","doi":"https://doi.org/10.1109/iros.2004.1389986","mag":"2106107770"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389986","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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/A5067837757","display_name":"Chandra Sekhar Gatla","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"C. Gatla","raw_affiliation_strings":["Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111847818","display_name":"R. Lumia","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Lumia","raw_affiliation_strings":["Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030412645","display_name":"John Wood","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Wood","raw_affiliation_strings":["Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109242309","display_name":"G. Starr","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G. Starr","raw_affiliation_strings":["Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5067837757"],"corresponding_institution_ids":["https://openalex.org/I169521973"],"apc_list":null,"apc_paid":null,"fwci":2.8739,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.9085922,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"3674","last_page":"3679"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9976000189781189,"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":0.8553903102874756},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7404710054397583},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6787953972816467},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6374293565750122},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.591783344745636},{"id":"https://openalex.org/keywords/active-contour-model","display_name":"Active contour model","score":0.5737959146499634},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.5678722262382507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.547659695148468},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.49461814761161804},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4910740852355957},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3015148937702179},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.23918426036834717},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.20522794127464294},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16091498732566833},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12206512689590454}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8553903102874756},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7404710054397583},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6787953972816467},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6374293565750122},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.591783344745636},{"id":"https://openalex.org/C112353826","wikidata":"https://www.wikidata.org/wiki/Q127313","display_name":"Active contour model","level":4,"score":0.5737959146499634},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.5678722262382507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.547659695148468},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.49461814761161804},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4910740852355957},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3015148937702179},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.23918426036834717},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.20522794127464294},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16091498732566833},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12206512689590454},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389986","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W161961005","https://openalex.org/W1794703952","https://openalex.org/W1925324831","https://openalex.org/W2039493915","https://openalex.org/W2048517616","https://openalex.org/W2064878003","https://openalex.org/W2104095591","https://openalex.org/W2112827257","https://openalex.org/W2121009299","https://openalex.org/W2125387318","https://openalex.org/W2129723366","https://openalex.org/W2132476906","https://openalex.org/W2135085314","https://openalex.org/W2137951492","https://openalex.org/W2140173255","https://openalex.org/W2161933351","https://openalex.org/W2169003742","https://openalex.org/W2186098244","https://openalex.org/W4242660516","https://openalex.org/W4285719527","https://openalex.org/W6606624592","https://openalex.org/W6640245514","https://openalex.org/W6678817540","https://openalex.org/W6686618863"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W4390800284","https://openalex.org/W2058859118"],"abstract_inverted_index":{"This":[0,160],"paper":[1],"presents":[2],"an":[3,8,52],"efficient":[4],"method":[5],"to":[6,72,76,92,105,196],"grasp":[7,77,124],"unknown":[9],"planar":[10],"object":[11,137,166,204],"(disk-like":[12],"object)":[13],"using":[14],"a":[15,31,55,88,123,130,154,158,173],"three-fingered":[16],"Barrett":[17],"band.":[18],"First,":[19],"active":[20,41,81],"contour":[21,42,82],"models":[22,83],"are":[23,84,179,206],"extracted":[24],"from":[25],"the":[26,60,66,74,78,80,99,107,113,116,132,136,141,148,162,165,168,186,189,200,203],"images":[27],"taken":[28],"by":[29],"Biclops,":[30],"dual":[32],"camera":[33],"directed":[34],"vision":[35],"system.":[36],"The":[37,101],"centroid":[38,57],"of":[39,54,59,98,112,135,143,176,188],"each":[40],"model":[43],"is":[44,127,151,192],"computed,":[45],"employed":[46],"in":[47,87,109],"triangulation,":[48],"and":[49,70,95,167],"used":[50,86],"as":[51,153,181,194,208],"estimate":[53],"3-D":[56],"point":[58],"object.":[61],"To":[62],"compute":[63],"precisely":[64],"where":[65],"gripper":[67,75,149,169],"will":[68],"go":[69],"how":[71],"configure":[73],"object,":[79,114],"also":[85],"polar":[89],"coordinate":[90],"frame":[91],"extract":[93],"concave":[94,110],"convex":[96],"sections":[97,111],"model.":[100],"proposed":[102,190],"algorithm":[103,191],"attempts":[104],"place":[106,120],"thumb":[108],"with":[115],"remaining":[117],"two":[118],"fingers":[119],"such":[121],"that":[122],"quality":[125,142],"metric":[126],"maximized.":[128],"As":[129],"consequence,":[131],"geometric":[133],"properties":[134],"itself":[138],"can":[139],"improve":[140],"grasp.":[144],"In":[145],"this":[146],"work,":[147],"contact":[150],"modeled":[152],"surface":[155],"rather":[156],"than":[157],"point.":[159],"makes":[161],"interaction":[163],"between":[164],"more":[170],"realistic.":[171],"Only":[172],"small":[174],"set":[175],"inflection":[177],"points":[178,201],"chosen":[180,207],"potential":[182,209],"grasping":[183,210],"locations.":[184,211],"Thus":[185],"complexity":[187],"linear":[193],"opposed":[195],"cubic":[197],"if":[198],"all":[199],"on":[202],"boundary":[205]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
