{"id":"https://openalex.org/W3003318685","doi":"https://doi.org/10.1109/iros40897.2019.8967889","title":"Force-and-Motion Constrained Planning for Tool Use","display_name":"Force-and-Motion Constrained Planning for Tool Use","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003318685","doi":"https://doi.org/10.1109/iros40897.2019.8967889","mag":"3003318685"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/124127","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057672771","display_name":"Rachel Holladay","orcid":"https://orcid.org/0000-0002-1947-4180"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rachel Holladay","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory","Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063238208","display_name":"Tom\u00e1s Lozano\u2010P\u00e9rez","orcid":"https://orcid.org/0000-0002-8657-2450"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tom\u00e1s Lozano-P\u00e9rez","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory","Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Laboratory","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100657503","display_name":"Alberto Rodr\u00edguez","orcid":"https://orcid.org/0000-0002-1119-4512"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alberto Rodriguez","raw_affiliation_strings":["Massachusetts Institute of Technology,Mechanical Engineenng Department","Mechanical Engineenng Department, Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Mechanical Engineenng Department","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Mechanical Engineenng Department, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":10.0907,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.99309958,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7409","last_page":"7416"},"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":0.9984999895095825,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.8869187831878662},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8109577894210815},{"id":"https://openalex.org/keywords/hammer","display_name":"Hammer","score":0.6621615886688232},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6416517496109009},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6154767870903015},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5809736847877502},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5357306003570557},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45423170924186707},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.44862985610961914},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4381495714187622},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.432834655046463},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42612895369529724},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.42328783869743347},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3699426054954529},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32344502210617065},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2613016664981842},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24135997891426086},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14644962549209595},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12336799502372742}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8869187831878662},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8109577894210815},{"id":"https://openalex.org/C13655849","wikidata":"https://www.wikidata.org/wiki/Q25294","display_name":"Hammer","level":2,"score":0.6621615886688232},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6416517496109009},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6154767870903015},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5809736847877502},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5357306003570557},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45423170924186707},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.44862985610961914},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4381495714187622},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.432834655046463},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42612895369529724},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.42328783869743347},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3699426054954529},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32344502210617065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2613016664981842},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24135997891426086},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14644962549209595},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12336799502372742},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros40897.2019.8967889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/124127","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/124127","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},{"id":"pmh:oai:dspace.mit.edu:1721.1/137604","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137604","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"Article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/137604.2","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137604.2","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/124127","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/124127","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.800000011920929,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W131797558","https://openalex.org/W1198461769","https://openalex.org/W1506247397","https://openalex.org/W1520036242","https://openalex.org/W1574909006","https://openalex.org/W1776592063","https://openalex.org/W2003511559","https://openalex.org/W2011222378","https://openalex.org/W2020251869","https://openalex.org/W2029342956","https://openalex.org/W2032006356","https://openalex.org/W2049410986","https://openalex.org/W2063533050","https://openalex.org/W2063822181","https://openalex.org/W2067928539","https://openalex.org/W2074553531","https://openalex.org/W2081659722","https://openalex.org/W2082711337","https://openalex.org/W2085978998","https://openalex.org/W2111651672","https://openalex.org/W2111726927","https://openalex.org/W2116817751","https://openalex.org/W2120962217","https://openalex.org/W2128610344","https://openalex.org/W2134447392","https://openalex.org/W2134831918","https://openalex.org/W2136364779","https://openalex.org/W2144082062","https://openalex.org/W2155289806","https://openalex.org/W2210993424","https://openalex.org/W2216157536","https://openalex.org/W2273314177","https://openalex.org/W2409068304","https://openalex.org/W2460420135","https://openalex.org/W2562184125","https://openalex.org/W2609356747","https://openalex.org/W2765226061","https://openalex.org/W2775067858","https://openalex.org/W2783693550","https://openalex.org/W2786893837","https://openalex.org/W2805883505","https://openalex.org/W2884593088","https://openalex.org/W2890051203","https://openalex.org/W2937206389","https://openalex.org/W2963411833","https://openalex.org/W2963481133","https://openalex.org/W2964147919","https://openalex.org/W2964208980","https://openalex.org/W2967092886","https://openalex.org/W2967992338","https://openalex.org/W3104753760","https://openalex.org/W4206785111","https://openalex.org/W4239152453","https://openalex.org/W4241088297","https://openalex.org/W4247031047","https://openalex.org/W6670812371","https://openalex.org/W6682802236"],"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/W2766493616"],"abstract_inverted_index":{"The":[0,31],"use":[1],"of":[2,34,49,52,83,89,95,102,110,121,144],"hand":[3],"tools":[4],"presents":[5],"a":[6,23,35,40,43,145],"challenge":[7],"for":[8,16,148],"robot":[9,74],"manipulation":[10],"in":[11,67,92,106,116],"part":[12],"because":[13],"it":[14],"calls":[15],"motions":[17],"requiring":[18],"continuous":[19],"force":[20,61],"application":[21,33],"over":[22],"whole":[24],"trajectory,":[25],"usually":[26],"involving":[27],"large":[28],"joint-angle":[29],"excursions.":[30],"feasible":[32],"tool,":[36],"such":[37,127],"as":[38,70,72,85,128,141],"pulling":[39],"nail":[41],"with":[42],"hammer":[44],"claw,":[45],"requires":[46],"careful":[47],"coordination":[48],"the":[50,68,73,87,93,100,103,142],"choice":[51],"grasp":[53,69],"and":[54,60,132,157],"joint":[55],"trajectories":[56],"to":[57],"ensure":[58],"kinematic":[59],"limits":[62],"are":[63],"not":[64],"exceeded":[65],"-":[66],"well":[71],"mechanism.":[75],"In":[76],"this":[77,81,119],"paper,":[78],"we":[79,123],"formulate":[80],"type":[82],"problem":[84,147],"choosing":[86],"values":[88],"decision":[90],"variables":[91],"presence":[94],"various":[96,104],"constraints.":[97,159],"We":[98,135],"evaluate":[99],"impact":[101],"constraints":[105],"some":[107],"representative":[108],"instances":[109],"tool":[111,130],"use.":[112],"To":[113],"aid":[114],"others":[115],"further":[117],"investigating":[118,149],"class":[120],"problems,":[122],"have":[124],"released":[125],"materials":[126],"printable":[129],"models":[131],"experimental":[133],"data.":[134],"hope":[136],"that":[137,151],"these":[138],"can":[139],"serve":[140],"basis":[143],"benchmark":[146],"tasks":[150],"involve":[152],"many":[153],"kinematic,":[154],"actuation,":[155],"friction,":[156],"environment":[158]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}