{"id":"https://openalex.org/W2561266087","doi":"https://doi.org/10.1109/iros.2016.7759446","title":"Active vision for dexterous grasping of novel objects","display_name":"Active vision for dexterous grasping of novel objects","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2561266087","doi":"https://doi.org/10.1109/iros.2016.7759446","mag":"2561266087"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759446","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1708.04185","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034525050","display_name":"Ermano Arruda","orcid":null},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Ermano Arruda","raw_affiliation_strings":["CN-CR, University of Birmingham, United Kingdom"],"affiliations":[{"raw_affiliation_string":"CN-CR, University of Birmingham, United Kingdom","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069031865","display_name":"Jeremy Wyatt","orcid":"https://orcid.org/0000-0001-6991-356X"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jeremy Wyatt","raw_affiliation_strings":["CN-CR, University of Birmingham, United Kingdom"],"affiliations":[{"raw_affiliation_string":"CN-CR, University of Birmingham, United Kingdom","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060085036","display_name":"Marek Kopicki","orcid":"https://orcid.org/0000-0002-0769-0556"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Marek Kopicki","raw_affiliation_strings":["CN-CR, University of Birmingham, United Kingdom"],"affiliations":[{"raw_affiliation_string":"CN-CR, University of Birmingham, United Kingdom","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5034525050"],"corresponding_institution_ids":["https://openalex.org/I79619799"],"apc_list":null,"apc_paid":null,"fwci":4.8726,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.95282929,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2881","last_page":"2888"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9986000061035156,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9869999885559082,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8684966564178467},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7693734169006348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7100458741188049},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6608045101165771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.652489423751831},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5675804018974304},{"id":"https://openalex.org/keywords/gaze","display_name":"Gaze","score":0.5078344941139221},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5047491788864136},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5024645328521729},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.47008824348449707},{"id":"https://openalex.org/keywords/active-vision","display_name":"Active vision","score":0.4451872706413269},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4285753071308136},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19994142651557922}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8684966564178467},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7693734169006348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7100458741188049},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6608045101165771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.652489423751831},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5675804018974304},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.5078344941139221},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5047491788864136},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5024645328521729},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.47008824348449707},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.4451872706413269},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4285753071308136},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19994142651557922},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2016.7759446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759446","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"},{"id":"pmh:oai:arXiv.org:1708.04185","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1708.04185","pdf_url":"https://arxiv.org/pdf/1708.04185","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:pure.atira.dk:Publications/8a7eed92-e3f1-4c16-b461-b6b5a8ecf7f9","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/8a7eed92-e3f1-4c16-b461-b6b5a8ecf7f9","is_oa":true,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/8a7eed92-e3f1-4c16-b461-b6b5a8ecf7f9","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Arruda, E, Kopicki, M & Wyatt, J 2016, Active vision for dexterous grasping of novel objects. in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Computer Society Press, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759446","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.atira.dk:publications/8a7eed92-e3f1-4c16-b461-b6b5a8ecf7f9","is_oa":false,"landing_page_url":"https://research.birmingham.ac.uk/portal/en/publications/active-vision-for-dexterous-grasping-of-novel-objects(8a7eed92-e3f1-4c16-b461-b6b5a8ecf7f9).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1708.04185","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1708.04185","pdf_url":"https://arxiv.org/pdf/1708.04185","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.7599999904632568,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1573725801","https://openalex.org/W1984237968","https://openalex.org/W1989823960","https://openalex.org/W2021314974","https://openalex.org/W2024012685","https://openalex.org/W2031060683","https://openalex.org/W2041496197","https://openalex.org/W2060756050","https://openalex.org/W2101024363","https://openalex.org/W2104273718","https://openalex.org/W2133564229","https://openalex.org/W2133844819","https://openalex.org/W2154418813","https://openalex.org/W2156422658","https://openalex.org/W2156583822","https://openalex.org/W2161365670","https://openalex.org/W2169241897","https://openalex.org/W2248695909","https://openalex.org/W2296039540","https://openalex.org/W2300618187","https://openalex.org/W4231002530","https://openalex.org/W4243970992","https://openalex.org/W6684916627","https://openalex.org/W6697619730","https://openalex.org/W7067110405"],"related_works":["https://openalex.org/W4312985843","https://openalex.org/W2583647647","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259","https://openalex.org/W2088476797","https://openalex.org/W2625202073","https://openalex.org/W2102971868","https://openalex.org/W2168487931","https://openalex.org/W4312362134"],"abstract_inverted_index":{"How":[0],"should":[1],"a":[2,83,111,168,172,184],"robot":[3,44],"direct":[4,152],"active":[5,95,128],"vision":[6,129],"so":[7],"as":[8],"to":[9,50,76,131,154,162],"ensure":[10,77],"reliable":[11],"grasping?":[12],"We":[13,165],"answer":[14],"this":[15,142],"question":[16],"for":[17],"the":[18,43,67,79,100,119,127,137,144,156,159,175],"case":[19],"of":[20,23,60,158],"dexterous":[21,27,169],"grasping":[22,28,32],"unfamiliar":[24],"objects.":[25],"By":[26],"we":[29,109,125,151],"simply":[30],"mean":[31],"by":[33,99],"any":[34],"hand":[35],"with":[36,171],"more":[37,92],"than":[38],"two":[39,61],"fingers,":[40],"such":[41],"that":[42,78,177],"has":[45,105],"some":[46],"choice":[47],"about":[48],"where":[49],"place":[51],"each":[52],"finger.":[53],"Such":[54],"grasps":[55,117],"typically":[56],"fail":[57],"in":[58,66],"one":[59],"ways,":[62],"either":[63],"unmodeled":[64],"objects":[65],"scene":[68],"cause":[69],"collisions":[70],"or":[71],"object":[72,122],"reconstruction":[73,134],"is":[74,97,147],"insufficient":[75],"grasp":[80,146,163],"points":[81],"provide":[82],"stable":[84],"force":[85],"closure.":[86],"These":[87],"problems":[88],"can":[89],"be":[90],"solved":[91],"easily":[93],"if":[94],"sensing":[96],"guided":[98],"anticipated":[101,145],"actions.":[102],"Our":[103],"approach":[104,130,179],"three":[106],"stages.":[107],"First,":[108],"take":[110],"single":[112],"view":[113],"and":[114],"generate":[115],"candidate":[116],"from":[118],"resulting":[120],"partial":[121],"reconstruction.":[123],"Second,":[124],"drive":[126],"maximise":[132],"surface":[133],"quality":[135],"around":[136],"planned":[138,160],"contact":[139],"points.":[140],"During":[141],"phase,":[143],"continually":[148],"refined.":[149],"Third,":[150],"gaze":[153],"improve":[155],"safety":[157],"reach":[161],"trajectory.":[164],"show,":[166],"on":[167,174],"manipulator":[170],"camera":[173],"wrist,":[176],"our":[178],"(80.4%":[180],"success":[181,188],"rate)":[182],"outperforms":[183],"randomised":[185],"algorithm":[186],"(64.3%":[187],"rate).":[189]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2020-11-23T00:00:00"}
