{"id":"https://openalex.org/W2564383266","doi":"https://doi.org/10.1109/iros.2016.7759156","title":"Preparatory object reorientation for task-oriented grasping","display_name":"Preparatory object reorientation for task-oriented grasping","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2564383266","doi":"https://doi.org/10.1109/iros.2016.7759156","mag":"2564383266"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759156","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759156","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100671645","display_name":"Anh V. Nguyen","orcid":"https://orcid.org/0000-0001-6703-2291"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Anh Nguyen","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048122691","display_name":"Dimitrios Kanoulas","orcid":"https://orcid.org/0000-0002-3684-1472"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Dimitrios Kanoulas","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100671645"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":3.4815,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.93026997,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9977999925613403,"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/T10868","display_name":"Soft Robotics and Applications","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.8004570603370667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7656509876251221},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7651071548461914},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7195268273353577},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6910157799720764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6661747097969055},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5931614637374878},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5523892641067505},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.4891979694366455},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4559420347213745},{"id":"https://openalex.org/keywords/articulated-body-pose-estimation","display_name":"Articulated body pose estimation","score":0.44434767961502075},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4420006275177002},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.41636183857917786},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3483045697212219},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12104412913322449},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08192959427833557}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.8004570603370667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7656509876251221},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7651071548461914},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7195268273353577},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6910157799720764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6661747097969055},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5931614637374878},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5523892641067505},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.4891979694366455},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4559420347213745},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.44434767961502075},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4420006275177002},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.41636183857917786},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3483045697212219},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12104412913322449},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08192959427833557},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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":1,"locations":[{"id":"doi:10.1109/iros.2016.7759156","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759156","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1617153945","https://openalex.org/W1627400044","https://openalex.org/W1977497512","https://openalex.org/W1985895686","https://openalex.org/W1991544872","https://openalex.org/W1999156278","https://openalex.org/W2005824379","https://openalex.org/W2019606703","https://openalex.org/W2036637075","https://openalex.org/W2060698516","https://openalex.org/W2069662713","https://openalex.org/W2070787044","https://openalex.org/W2085261163","https://openalex.org/W2100119371","https://openalex.org/W2116233534","https://openalex.org/W2117228865","https://openalex.org/W2127502734","https://openalex.org/W2175031088","https://openalex.org/W2207670488","https://openalex.org/W2217960268","https://openalex.org/W2417728065","https://openalex.org/W2561523096","https://openalex.org/W2730083658","https://openalex.org/W2736534894","https://openalex.org/W2963654160","https://openalex.org/W3112422759","https://openalex.org/W6636759986","https://openalex.org/W6717383705","https://openalex.org/W6740507764","https://openalex.org/W6741140343"],"related_works":["https://openalex.org/W2946083937","https://openalex.org/W2798721181","https://openalex.org/W4386075737","https://openalex.org/W2951583186","https://openalex.org/W4299867837","https://openalex.org/W2088028039","https://openalex.org/W4382141741","https://openalex.org/W3165753266","https://openalex.org/W1968783203","https://openalex.org/W4206633503"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,10,35,46,89,99,112,117,140,152],"new":[4],"task-oriented":[5],"grasping":[6],"method":[7,40,101],"to":[8,13,26,32,61,76,115,119,130],"reorient":[9],"rigid":[11,71],"object":[12,64,85,123],"its":[14],"nominal":[15,78,132],"pose,":[16,133],"which":[17],"is":[18,59,80,86,98],"defined":[19],"as":[20,134],"the":[21,63,70,74,77,84,108,127,131,137,146],"configuration":[22],"that":[23,102],"it":[24],"needs":[25],"be":[27,104],"grasped":[28],"from,":[29],"in":[30,66,107],"order":[31],"successfully":[33],"execute":[34],"particular":[36],"manipulation":[37,113],"task.":[38,142],"Our":[39],"combines":[41],"two":[42],"key":[43],"insights:":[44],"(1)":[45],"visual":[47],"6":[48],"Degree-of-Freedom":[49],"(DoF)":[50],"pose":[51,65,79,162],"estimation":[52],"technique":[53],"based":[54],"on":[55,151],"2D-3D":[56],"point":[57],"correspondences":[58],"used":[60,106],"estimate":[62],"real-time":[67,165],"and":[68,83,125],"(2)":[69],"transformation":[72],"from":[73,121],"current":[75],"computed":[81],"online":[82],"reoriented":[87],"over":[88],"sequence":[90],"of":[91,95,111,139,148],"steps.":[92],"The":[93],"outcome":[94],"this":[96],"work":[97],"novel":[100],"can":[103],"effectively":[105],"preparatory":[109],"phase":[110],"task,":[114],"permit":[116],"robot":[118,155],"start":[120],"arbitrary":[122],"placements":[124],"configure":[126],"manipulated":[128],"objects":[129,159],"required":[135],"for":[136],"execution":[138],"subsequent":[141],"We":[143],"experimentally":[144],"demonstrate":[145],"effectiveness":[147],"our":[149],"approach":[150],"full-size":[153],"humanoid":[154],"(WALK-MAN)":[156],"using":[157],"different":[158],"with":[160],"various":[161],"settings":[163],"under":[164],"constraints.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}