{"id":"https://openalex.org/W2078681171","doi":"https://doi.org/10.1109/iros.2013.6696781","title":"Caging complex objects with geodesic balls","display_name":"Caging complex objects with geodesic balls","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2078681171","doi":"https://doi.org/10.1109/iros.2013.6696781","mag":"2078681171"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696781","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5062782550","display_name":"Dmitry Zarubin","orcid":"https://orcid.org/0000-0002-0092-3011"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Dmitry Zarubin","raw_affiliation_strings":["Machine Learning and Robotics Lab, Universit\u00e4t Stuttgart, Stuttgart, Germany","Machine Learning & Robot. Lab., Univ. Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Machine Learning and Robotics Lab, Universit\u00e4t Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Machine Learning & Robot. Lab., Univ. Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018027629","display_name":"Florian T. Pokorny","orcid":"https://orcid.org/0000-0003-1114-6040"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Florian T. Pokorny","raw_affiliation_strings":["Centre for Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","Sch. of Comput. Sci. & Commun., Comput. Vision & Active Perception Lab., KTH - R. Inst. of Technol., Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Sch. of Comput. Sci. & Commun., Comput. Vision & Active Perception Lab., KTH - R. Inst. of Technol., Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065672819","display_name":"Marc Toussaint","orcid":"https://orcid.org/0000-0002-5487-6767"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["Machine Learning and Robotics Lab, Universit\u00e4t Stuttgart, Stuttgart, Germany","Machine Learning & Robot. Lab., Univ. Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Machine Learning and Robotics Lab, Universit\u00e4t Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Machine Learning & Robot. Lab., Univ. Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["Centre for Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","Sch. of Comput. Sci. & Commun., Comput. Vision & Active Perception Lab., KTH - R. Inst. of Technol., Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Sch. of Comput. Sci. & Commun., Comput. Vision & Active Perception Lab., KTH - R. Inst. of Technol., Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5062782550"],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":3.5601,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.92809831,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"28","issue":null,"first_page":"2999","last_page":"3006"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.993399977684021,"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/T12290","display_name":"Human Motion and Animation","score":0.9918000102043152,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/geodesic","display_name":"Geodesic","score":0.8532236814498901},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6077202558517456},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.5565335154533386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5090638995170593},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.4970884621143341},{"id":"https://openalex.org/keywords/gaussian-curvature","display_name":"Gaussian curvature","score":0.4957488477230072},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4913116991519928},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48591867089271545},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.47861331701278687},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4705132842063904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45901384949684143},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.40536025166511536},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3375086188316345},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.30664098262786865},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.18988683819770813}],"concepts":[{"id":"https://openalex.org/C165818556","wikidata":"https://www.wikidata.org/wiki/Q213488","display_name":"Geodesic","level":2,"score":0.8532236814498901},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6077202558517456},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.5565335154533386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5090638995170593},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.4970884621143341},{"id":"https://openalex.org/C16140857","wikidata":"https://www.wikidata.org/wiki/Q945953","display_name":"Gaussian curvature","level":3,"score":0.4957488477230072},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4913116991519928},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48591867089271545},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.47861331701278687},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4705132842063904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45901384949684143},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40536025166511536},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3375086188316345},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.30664098262786865},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.18988683819770813},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696781","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.409.3","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.409.3","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ipvs.informatik.uni-stuttgart.de/mlr/marc/publications/13-zarubin-IROS.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W27728773","https://openalex.org/W1510186039","https://openalex.org/W1554725362","https://openalex.org/W1587553839","https://openalex.org/W1626653188","https://openalex.org/W1794703952","https://openalex.org/W1808974695","https://openalex.org/W1981667747","https://openalex.org/W2003025780","https://openalex.org/W2007924815","https://openalex.org/W2025848827","https://openalex.org/W2028145273","https://openalex.org/W2037882812","https://openalex.org/W2097197636","https://openalex.org/W2101552762","https://openalex.org/W2103189462","https://openalex.org/W2123967128","https://openalex.org/W2143118902","https://openalex.org/W2156886697","https://openalex.org/W2162556257","https://openalex.org/W2166585449","https://openalex.org/W2284129080","https://openalex.org/W2540104143","https://openalex.org/W2547629979","https://openalex.org/W2742049674","https://openalex.org/W4255466541","https://openalex.org/W6601143984","https://openalex.org/W6633289732"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W1973997949"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,36,75,109,128,136,150,170],"novel":[4],"approach":[5,161],"for":[6,169],"the":[7,20,29,56,63,70,132,140,144],"synthesis":[8],"of":[9,11,22,31,58,85,149,172],"grasps":[10,34,49],"objects":[12,175],"whose":[13],"geometry":[14],"can":[15,46,103],"be":[16,105],"observed":[17],"only":[18],"in":[19,26,66,94,166],"presence":[21],"noise.":[23,183],"We":[24,54,81,158],"focus":[25],"particular":[27],"on":[28,51,62,99,116,131],"problem":[30],"generating":[32],"caging":[33,110,156],"with":[35,162,177],"realistic":[37],"robot":[38],"hand":[39,77,167],"simulation":[40],"and":[41,78,176],"show":[42],"that":[43,102],"our":[44,160],"method":[45],"generate":[47,108],"such":[48],"even":[50],"complex":[52,173],"objects.":[53],"introduce":[55],"idea":[57],"using":[59,143],"geodesic":[60,92,129,151],"balls":[61,93],"object's":[64],"surface":[65,73,133],"order":[67,95],"to":[68,96,107,153,164,179,182],"approximate":[69,91],"maximal":[71],"contact":[72],"between":[74],"robotic":[76],"an":[79,100],"object.":[80],"define":[82],"two":[83,117],"types":[84],"heuristics":[86,113],"which":[87],"extract":[88],"information":[89],"from":[90],"identify":[97],"areas":[98],"object":[101],"likely":[104],"used":[106],"grasp.":[111],"Our":[112],"are":[114],"based":[115],"scoring":[118],"functions.":[119],"The":[120],"first":[121],"uses":[122],"winding":[123],"angles":[124],"measuring":[125],"how":[126],"much":[127],"ball":[130,152],"winds":[134],"around":[135],"dominant":[137],"axis,":[138],"while":[139],"second":[141],"explores":[142],"total":[145],"discrete":[146],"Gaussian":[147],"curvature":[148],"rank":[154],"potential":[155],"postures.":[157],"evaluate":[159],"respect":[163,178],"variations":[165],"kinematics,":[168],"selection":[171],"real-world":[174],"its":[180],"robustness":[181]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
