{"id":"https://openalex.org/W2063461900","doi":"https://doi.org/10.1109/iros.2012.6385800","title":"Object placement planner for robotic pick and place tasks","display_name":"Object placement planner for robotic pick and place tasks","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2063461900","doi":"https://doi.org/10.1109/iros.2012.6385800","mag":"2063461900"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385800","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5016270703","display_name":"Kensuke Harada","orcid":"https://orcid.org/0000-0002-7576-756X"},"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Harada","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010032030","display_name":"Tokuo Tsuji","orcid":"https://orcid.org/0000-0002-1573-1928"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Tsuji","raw_affiliation_strings":["Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka 819-0395, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]},{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka 819-0395, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065735828","display_name":"Kazuyuki Nagata","orcid":"https://orcid.org/0000-0002-8912-0943"},"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Nagata","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066637748","display_name":"Natsuki Yamanobe","orcid":"https://orcid.org/0000-0001-8885-3064"},"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"N. Yamanobe","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081849872","display_name":"Hiromu Onda","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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Onda","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029936717","display_name":"Takashi Yoshimi","orcid":"https://orcid.org/0000-0002-7368-7646"},"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Yoshimi","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060133835","display_name":"Yoshihiro Kawai","orcid":"https://orcid.org/0000-0002-9847-0072"},"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Kawai","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Systems Research Institute, National Inst. of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.1161,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.95148058,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"980","last_page":"985"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7975460290908813},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.7872744798660278},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7211074829101562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7135224342346191},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.586846113204956},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5549823641777039},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5469227433204651},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5027387142181396},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4952062666416168},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.48239195346832275},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.46240881085395813},{"id":"https://openalex.org/keywords/method","display_name":"Method","score":0.42641210556030273},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.41700810194015503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37386512756347656},{"id":"https://openalex.org/keywords/object-oriented-programming","display_name":"Object-oriented programming","score":0.23150122165679932},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1259610652923584},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07298076152801514}],"concepts":[{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7975460290908813},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.7872744798660278},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7211074829101562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7135224342346191},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.586846113204956},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5549823641777039},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5469227433204651},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5027387142181396},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4952062666416168},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.48239195346832275},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.46240881085395813},{"id":"https://openalex.org/C512554520","wikidata":"https://www.wikidata.org/wiki/Q815844","display_name":"Method","level":3,"score":0.42641210556030273},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.41700810194015503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37386512756347656},{"id":"https://openalex.org/C73752529","wikidata":"https://www.wikidata.org/wiki/Q79872","display_name":"Object-oriented programming","level":2,"score":0.23150122165679932},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1259610652923584},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07298076152801514},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385800","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W143844323","https://openalex.org/W1977387474","https://openalex.org/W2016616164","https://openalex.org/W2021964512","https://openalex.org/W2050305425","https://openalex.org/W2051819074","https://openalex.org/W2060696844","https://openalex.org/W2070398378","https://openalex.org/W2109447584","https://openalex.org/W2109983327","https://openalex.org/W2118262422","https://openalex.org/W2136909956","https://openalex.org/W2148933384","https://openalex.org/W2151783584","https://openalex.org/W2156219300","https://openalex.org/W2579648831","https://openalex.org/W4234757920","https://openalex.org/W4254886163","https://openalex.org/W6605798267","https://openalex.org/W6662971569","https://openalex.org/W6665706603","https://openalex.org/W6682141014"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3,22,32],"object":[4,10,23,59,73,85,100,115],"placement":[5,70],"planner":[6,16],"for":[7,120],"a":[8,27,40,66,79,126,130],"grasped":[9],"during":[11],"pick-and-place":[12],"tasks.":[13],"The":[14,35,69,132],"proposed":[15,36,136],"automatically":[17],"determines":[18],"the":[19,44,50,55,58,72,84,87,96,99,103,111,114,118,135],"pose":[20,97],"of":[21,43,53,71,81,98,113,134],"stably":[24],"placed":[25,101,116],"near":[26],"user":[28],"assigned":[29],"point":[30],"on":[31,102,117,129],"environment":[33,56,119],"surface.":[34],"method":[37],"first":[38],"constructs":[39],"polygon":[41,51],"model":[42,52],"surrounding":[45],"environment,":[46],"and":[47,57,86],"then":[48],"clusters":[49,82],"both":[54],"where":[60],"each":[61],"cluster":[62],"is":[63,138],"approximated":[64],"by":[65,77],"planar":[67],"region.":[68],"can":[74,109],"be":[75],"determined":[76],"selecting":[78],"pair":[80],"between":[83],"environment.":[88,104],"We":[89,105],"further":[90],"impose":[91],"several":[92,121,141],"conditions":[93],"to":[94],"determine":[95,110],"show":[106],"that":[107],"we":[108],"position/orientation":[112],"cases":[122],"such":[123],"as":[124],"hanging":[125],"mug":[127],"cup":[128],"bar.":[131],"effectiveness":[133],"research":[137],"confirmed":[139],"through":[140],"numerical":[142],"examples.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}