{"id":"https://openalex.org/W2100452786","doi":"https://doi.org/10.1109/iros.2011.6094957","title":"Graspability map: A tool for evaluating grasp capabilities","display_name":"Graspability map: A tool for evaluating grasp capabilities","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2100452786","doi":"https://doi.org/10.1109/iros.2011.6094957","mag":"2100452786"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094957","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094957","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5048087019","display_name":"M\u00e1ximo A. Roa","orcid":"https://orcid.org/0000-0003-1708-4223"},"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":"Maximo A. Roa","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035604098","display_name":"Katharina Hertkorn","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":"Katharina Hertkorn","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070570339","display_name":"Franziska Zacharias","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":"Franziska Zacharias","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","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":false,"raw_author_name":"Christoph Borst","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111425451","display_name":"Gerd 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":"Gerd Hirzinger","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German AeroSpace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR) , Wessling , Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":1.7468,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.83046383,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1768","last_page":"1774"},"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":0.9937000274658203,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9779530763626099},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8601634502410889},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.7770215272903442},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7419196963310242},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.712548553943634},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6145433187484741},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5507100224494934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5172327160835266},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.48093029856681824},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.4320598840713501},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23210409283638},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15696892142295837},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0522305965423584}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9779530763626099},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8601634502410889},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7770215272903442},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7419196963310242},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.712548553943634},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6145433187484741},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5507100224494934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5172327160835266},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.48093029856681824},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.4320598840713501},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23210409283638},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15696892142295837},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0522305965423584},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","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.2011.6094957","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094957","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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":34,"referenced_works":["https://openalex.org/W1493784828","https://openalex.org/W1564897360","https://openalex.org/W1879310615","https://openalex.org/W1901378578","https://openalex.org/W1959345191","https://openalex.org/W1984237968","https://openalex.org/W1999375810","https://openalex.org/W2039019138","https://openalex.org/W2088317162","https://openalex.org/W2098304071","https://openalex.org/W2099122763","https://openalex.org/W2100761131","https://openalex.org/W2106215490","https://openalex.org/W2120734806","https://openalex.org/W2126496149","https://openalex.org/W2127164559","https://openalex.org/W2132086397","https://openalex.org/W2134167019","https://openalex.org/W2136909956","https://openalex.org/W2142450096","https://openalex.org/W2142643189","https://openalex.org/W2151783584","https://openalex.org/W2156219259","https://openalex.org/W2159044260","https://openalex.org/W2160303287","https://openalex.org/W2161933351","https://openalex.org/W2165745738","https://openalex.org/W3145999077","https://openalex.org/W4234100982","https://openalex.org/W6629750261","https://openalex.org/W6659982258","https://openalex.org/W6679643019","https://openalex.org/W6680854185","https://openalex.org/W6682141014"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,15,38,41,45,48,69],"graspability":[4],"map,":[5],"a":[6,12,20,28,51],"novel":[7],"approach":[8],"to":[9,26,78],"represent":[10],"for":[11,54,67],"particular":[13],"object":[14],"positions":[16],"and":[17,44,63,91],"orientations":[18],"that":[19],"given":[21],"mechanical":[22,74],"hand":[23],"can":[24,64],"adopt":[25],"achieve":[27],"force":[29,55],"closure":[30,56],"precision":[31],"grasp.":[32],"The":[33,58,82],"algorithm":[34],"is":[35],"based":[36],"on":[37],"intersection":[39],"between":[40],"fingertip":[42],"workspaces":[43],"object,":[46],"plus":[47],"verification":[49],"of":[50,72],"necessary":[52],"condition":[53],"grasps.":[57],"maps":[59,83],"are":[60],"computed":[61],"offline":[62],"be":[65],"used":[66],"comparing":[68],"grasp":[70,90],"capabilities":[71],"different":[73],"hands":[75],"with":[76],"respect":[77],"some":[79],"benchmark":[80],"objects.":[81],"have":[84],"also":[85],"potential":[86],"applications":[87],"in":[88],"online":[89],"manipulation":[92],"planning.":[93]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}