{"id":"https://openalex.org/W2112645080","doi":"https://doi.org/10.1109/iros.2010.5649494","title":"Contact-reactive grasping of objects with partial shape information","display_name":"Contact-reactive grasping of objects with partial shape information","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2112645080","doi":"https://doi.org/10.1109/iros.2010.5649494","mag":"2112645080"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5649494","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649494","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5113531029","display_name":"Kai-yuh Hsiao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K Hsiao","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA","[Willow Garage Inc. Menlo Park, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]},{"raw_affiliation_string":"[Willow Garage Inc. Menlo Park, CA, USA]","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057299610","display_name":"Sachin Chitta","orcid":"https://orcid.org/0000-0003-4859-6096"},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S Chitta","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA","[Willow Garage Inc. Menlo Park, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]},{"raw_affiliation_string":"[Willow Garage Inc. Menlo Park, CA, USA]","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087490971","display_name":"Matei Ciocarlie","orcid":"https://orcid.org/0000-0002-8317-4465"},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M Ciocarlie","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA","[Willow Garage Inc. Menlo Park, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]},{"raw_affiliation_string":"[Willow Garage Inc. Menlo Park, CA, USA]","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103412717","display_name":"Edward G. Jones","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E G Jones","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA","[Willow Garage Inc. Menlo Park, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]},{"raw_affiliation_string":"[Willow Garage Inc. Menlo Park, CA, USA]","institution_ids":["https://openalex.org/I4210117999"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210117999"],"apc_list":null,"apc_paid":null,"fwci":50.5461,"has_fulltext":false,"cited_by_count":202,"citation_normalized_percentile":{"value":0.99900065,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1228","last_page":"1235"},"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":0.9972000122070312,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9793999791145325,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.897891640663147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7214661836624146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6917373538017273},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6713470816612244},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.670344889163971},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6237361431121826},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.49257951974868774},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4852759540081024},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45290902256965637},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.43273937702178955},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.42358678579330444},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41622257232666016},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1088666021823883}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.897891640663147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7214661836624146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6917373538017273},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6713470816612244},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.670344889163971},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6237361431121826},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.49257951974868774},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4852759540081024},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45290902256965637},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.43273937702178955},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.42358678579330444},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41622257232666016},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1088666021823883},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/iros.2010.5649494","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5649494","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W37733164","https://openalex.org/W614804429","https://openalex.org/W2015312730","https://openalex.org/W2029979841","https://openalex.org/W2054569297","https://openalex.org/W2106628124","https://openalex.org/W2118262422","https://openalex.org/W2128621978","https://openalex.org/W2132730909","https://openalex.org/W2134060734","https://openalex.org/W2141191968","https://openalex.org/W2141789091","https://openalex.org/W2142392250","https://openalex.org/W2144891935","https://openalex.org/W2161071618","https://openalex.org/W2162160008","https://openalex.org/W2169241897","https://openalex.org/W2294482522","https://openalex.org/W6601535287","https://openalex.org/W6619265336","https://openalex.org/W6677511112","https://openalex.org/W6684916627"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W3133406196","https://openalex.org/W2657478029","https://openalex.org/W4248427955","https://openalex.org/W2106333554","https://openalex.org/W2626503888","https://openalex.org/W2037306763","https://openalex.org/W2080808138","https://openalex.org/W4386395740","https://openalex.org/W2129483190"],"abstract_inverted_index":{"Robotic":[0],"grasping":[1,96,119,131,158],"in":[2,53,76,140,157],"unstructured":[3],"environments":[4],"requires":[5],"the":[6,84,88,141,147],"ability":[7],"to":[8,22,38,49,67,104,114],"select":[9],"grasps":[10,73],"for":[11,41,74,134],"unknown":[12,42,124],"objects":[13,75,159],"and":[14,44,56,90,149],"execute":[15,105],"them":[16],"while":[17],"dealing":[18],"with":[19,51,160],"uncertainty":[20,52,139],"due":[21],"sensor":[23,64],"noise":[24],"or":[25,144],"calibration":[26],"errors.":[27],"In":[28],"this":[29],"work,":[30],"we":[31],"propose":[32],"a":[33,45,69,77,106,120,135,161],"simple":[34],"but":[35],"robust":[36,108],"approach":[37,48,97,117,154],"grasp":[39,59,152],"selection":[40,60,153],"objects,":[43,148],"reactive":[46,95,130],"adjustment":[47],"deal":[50],"object":[54,89],"location":[55],"shape.":[57],"The":[58,94],"method":[61],"uses":[62,98],"3D":[63],"data":[65],"directly":[66],"determine":[68],"ranked":[70],"set":[71],"of":[72,87,123,138,146,163],"scene,":[78],"using":[79],"heuristics":[80],"based":[81],"on":[82],"both":[83],"overall":[85],"shape":[86,145],"its":[91],"local":[92],"features.":[93],"tactile":[99],"feedback":[100],"from":[101],"fingertip":[102],"sensors":[103],"compliant":[107],"grasp.":[109],"We":[110],"present":[111],"experimental":[112],"results":[113,127],"validate":[115],"our":[116,151],"by":[118],"wide":[121],"range":[122],"objects.":[125],"Our":[126],"show":[128],"that":[129,150],"can":[132],"correct":[133],"fair":[136],"amount":[137],"measured":[142],"position":[143],"is":[155],"successful":[156],"variety":[162],"shapes.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":17},{"year":2015,"cited_by_count":17},{"year":2014,"cited_by_count":19},{"year":2013,"cited_by_count":28},{"year":2012,"cited_by_count":25}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}