{"id":"https://openalex.org/W2063189785","doi":"https://doi.org/10.1109/iros.2013.6696854","title":"Classical grasp quality evaluation: New algorithms and theory","display_name":"Classical grasp quality evaluation: New algorithms and theory","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2063189785","doi":"https://doi.org/10.1109/iros.2013.6696854","mag":"2063189785"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696854","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/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":true,"raw_author_name":"Florian T. Pokorny","raw_affiliation_strings":["Computer Vision and Active Perception Lab, Centre for Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","Centre for Autonomous Syst., KTH R. Inst. of Technol., Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab, Centre for Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Centre for Autonomous Syst., KTH R. Inst. of Technol., Stockholm, Sweden","institution_ids":[]}]},{"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":["Computer Vision and Active Perception Lab, KTH Royal Institute of Technology, Stockholm, Sweden","Centre for Autonomous Syst., KTH R. Inst. of Technol., Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Centre for Autonomous Syst., KTH R. Inst. of Technol., Stockholm, Sweden","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5018027629"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":7.0694,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.96821947,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3493","last_page":"3500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9930999875068665,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.972100019454956,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/algorithm","display_name":"Algorithm","score":0.5298093557357788},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5053525567054749},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4059964716434479},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33881187438964844}],"concepts":[{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5298093557357788},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5053525567054749},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4059964716434479},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33881187438964844},{"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.2013.6696854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696854","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W562639461","https://openalex.org/W1510186039","https://openalex.org/W1794703952","https://openalex.org/W1808974695","https://openalex.org/W1820657498","https://openalex.org/W1925324831","https://openalex.org/W1990273696","https://openalex.org/W2021672660","https://openalex.org/W2047176340","https://openalex.org/W2079688774","https://openalex.org/W2109163007","https://openalex.org/W2152247404","https://openalex.org/W2153504150","https://openalex.org/W2156886697","https://openalex.org/W2157063701","https://openalex.org/W2171851689","https://openalex.org/W4212912562","https://openalex.org/W6648053962","https://openalex.org/W6684887908"],"related_works":["https://openalex.org/W2557924869","https://openalex.org/W2888481972","https://openalex.org/W3192511943","https://openalex.org/W4321376912","https://openalex.org/W4200303201","https://openalex.org/W3214506804","https://openalex.org/W3122736385","https://openalex.org/W4376167543","https://openalex.org/W2907945115","https://openalex.org/W2786068615"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"theoretical":[3],"properties":[4],"of":[5,31,37,49,65,81,87,93,164,187],"a":[6,50,53,85,88,102,141,162],"well-known":[7],"L":[8],"<sup":[9,19,39,95,118,131],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[10,20,23,40,43,96,99,119,132,135],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[11],"grasp":[12,143,166,190],"quality":[13,167],"measure":[14],"Q":[15,18,38,66,94,107,117,128,130],"whose":[16],"approximation":[17,48],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u2212</sup>":[21,41,97,133],"<inf":[22,42,98,134],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">l</inf>":[24,44,100,136],"is":[25,159],"commonly":[26],"used":[27,76,182],"for":[28,112],"the":[29,35,62,79,165,185],"evaluation":[30,168],"grasps":[32,82,151],"and":[33,67,108,129,174],"where":[34],"precision":[36],"depends":[45],"on":[46,161],"an":[47,69,110,114,171],"cone":[51,56],"by":[52],"convex":[54],"polyhedral":[55],"with":[57],"l":[58],"edges.":[59],"We":[60,91,122],"prove":[61],"Lipschitz":[63,71],"continuity":[64],"provide":[68,123],"explicit":[70],"bound":[72,104,116],"that":[73],"can":[74,148,180],"be":[75,181],"to":[77,106,183],"infer":[78],"stability":[80],"lying":[83],"in":[84],"neighbourhood":[86],"known":[89],"grasp.":[90],"think":[92],"as":[101,170],"lower":[103],"estimate":[105],"describe":[109],"algorithm":[111,146,158,179],"computing":[113],"upper":[115],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">+</sup>":[120],".":[121,137],"worst-case":[124],"error":[125],"bounds":[126],"relating":[127],"Furthermore,":[138],"we":[139,175],"develop":[140],"novel":[142],"hypothesis":[144],"rejection":[145],"which":[147],"exclude":[149],"unstable":[150],"much":[152],"faster":[153],"than":[154],"current":[155],"implementations.":[156],"Our":[157],"based":[160,189],"formulation":[163],"problem":[169],"optimization":[172],"problem,":[173],"show":[176],"how":[177],"our":[178],"improve":[184],"efficiency":[186],"sampling":[188],"hypotheses":[191],"generation":[192],"methods.":[193]},"counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
