{"id":"https://openalex.org/W2068682859","doi":"https://doi.org/10.1109/iros.2014.6942896","title":"Fast grasping of unknown objects using force balance optimization","display_name":"Fast grasping of unknown objects using force balance optimization","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2068682859","doi":"https://doi.org/10.1109/iros.2014.6942896","mag":"2068682859"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942896","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5042573764","display_name":"Qujiang Lei","orcid":"https://orcid.org/0000-0003-0550-5393"},"institutions":[{"id":"https://openalex.org/I4210131288","display_name":"National Engineering School of Tunis","ror":"https://ror.org/03b1zjt31","country_code":"TN","type":"education","lineage":["https://openalex.org/I4210131288","https://openalex.org/I63596082"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Qujiang Lei","raw_affiliation_strings":["Laboratory of Electronics and Information Technologies (LETI), National school of Engineering, TUNISIA","Biomechatronics & Human-Machine Control"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Electronics and Information Technologies (LETI), National school of Engineering, TUNISIA","institution_ids":["https://openalex.org/I4210131288"]},{"raw_affiliation_string":"Biomechatronics & Human-Machine Control","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012384272","display_name":"Martijn Wisse","orcid":"https://orcid.org/0000-0001-8210-7562"},"institutions":[{"id":"https://openalex.org/I4210131288","display_name":"National Engineering School of Tunis","ror":"https://ror.org/03b1zjt31","country_code":"TN","type":"education","lineage":["https://openalex.org/I4210131288","https://openalex.org/I63596082"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Martijn Wisse","raw_affiliation_strings":["Laboratory of Electronics and Information Technologies (LETI), National school of Engineering, TUNISIA","Biomechatronics & Human-Machine Control"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Electronics and Information Technologies (LETI), National school of Engineering, TUNISIA","institution_ids":["https://openalex.org/I4210131288"]},{"raw_affiliation_string":"Biomechatronics & Human-Machine Control","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210131288"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2454","last_page":"2460"},"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":0.9958000183105469,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9944999814033508,"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/grasp","display_name":"GRASP","score":0.8242924213409424},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7368004322052002},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7056376934051514},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6688709259033203},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6498705148696899},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6287916898727417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6253344416618347},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5809648633003235},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5340477824211121},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5300865769386292},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4760601222515106},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.45226186513900757},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3268301486968994},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19923073053359985},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1689794659614563},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13110452890396118}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8242924213409424},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7368004322052002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7056376934051514},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6688709259033203},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6498705148696899},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6287916898727417},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6253344416618347},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5809648633003235},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5340477824211121},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5300865769386292},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4760601222515106},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.45226186513900757},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3268301486968994},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19923073053359985},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1689794659614563},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13110452890396118},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6942896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942896","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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":17,"referenced_works":["https://openalex.org/W1780555481","https://openalex.org/W2010274050","https://openalex.org/W2041376653","https://openalex.org/W2094934490","https://openalex.org/W2101552762","https://openalex.org/W2118262422","https://openalex.org/W2120200810","https://openalex.org/W2126496149","https://openalex.org/W2129818002","https://openalex.org/W2131208256","https://openalex.org/W2137285860","https://openalex.org/W2146447720","https://openalex.org/W2157692698","https://openalex.org/W2169177409","https://openalex.org/W3215452923","https://openalex.org/W6638109603","https://openalex.org/W6674280737"],"related_works":["https://openalex.org/W2324418439","https://openalex.org/W2583647647","https://openalex.org/W3035867307","https://openalex.org/W4312985843","https://openalex.org/W2157487448","https://openalex.org/W2613999385","https://openalex.org/W2387707337","https://openalex.org/W4200004409","https://openalex.org/W2078568084","https://openalex.org/W143055317"],"abstract_inverted_index":{"Grasping":[0],"of":[1,33,55,85,101,105,112,117,133,187],"unknown":[2,34,106],"objects":[3,35],"(neither":[4],"appearance":[5],"data":[6],"nor":[7],"object":[8,107],"models":[9],"are":[10,74,181,193],"given":[11],"in":[12,21,28,121],"advance)":[13],"is":[14,64,140],"very":[15],"important":[16],"for":[17],"robots":[18],"that":[19],"work":[20],"an":[22,171,176],"unfamiliar":[23],"environment.":[24],"In":[25],"this":[26],"paper,":[27],"order":[29],"to":[30,50,76,159,163,183],"make":[31],"grasping":[32,44,81,93,124,129,145,151,161,165],"more":[36],"reliable":[37,78],"and":[38,83,131,153,155,168,175,190],"faster,":[39],"we":[40],"propose":[41],"a":[42,52],"novel":[43],"algorithm":[45,146],"which":[46],"does":[47],"not":[48],"require":[49],"build":[51],"3D":[53],"model":[54],"the":[56,90,99,102,110,118,122,128,144,150,160,185,188],"object.":[57],"For":[58,66],"most":[59,70,91],"objects,":[60,68],"one":[61],"point":[62,72,103,119,137,162],"cloud":[63,104,120,138],"enough.":[65],"other":[67],"at":[69],"two":[71],"clouds":[73],"enough":[75],"synthesize":[77],"grasp.":[79],"Taking":[80],"range":[82],"width":[84],"robot":[86,134,158],"hand":[87],"into":[88],"consideration,":[89],"suitable":[92],"region":[94,125],"can":[95,126,147],"be":[96],"calculated":[97],"on":[98,142,170],"contour":[100],"by":[108],"maximizing":[109],"coefficient":[111],"force":[113],"balance.":[114],"Further":[115],"analysis":[116],"best":[123],"obtain":[127],"position":[130,152],"orientation":[132,154],"hand.":[135],"The":[136],"information":[139],"processed":[141],"line,":[143],"quickly":[148],"get":[149],"then":[156],"drive":[157],"execute":[164],"action.":[166],"Simulations":[167],"experiments":[169],"Universal":[172],"arm":[173],"UR5":[174],"underactuated":[177],"Lacquey":[178],"Fetch":[179],"gripper":[180],"used":[182],"examine":[184],"performance":[186],"algorithm,":[189],"successful":[191],"results":[192],"obtained.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}