{"id":"https://openalex.org/W2934245910","doi":"https://doi.org/10.1109/iros40897.2019.8967960","title":"ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact","display_name":"ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2934245910","doi":"https://doi.org/10.1109/iros40897.2019.8967960","mag":"2934245910"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967960","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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1904.03754","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021658362","display_name":"Samarth Brahmbhatt","orcid":"https://orcid.org/0000-0002-3732-8865"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samarth Brahmbhatt","raw_affiliation_strings":["Institute of Robotics and Intelligent Machines, Georgia Tech,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines, Georgia Tech,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055942061","display_name":"Ankur Handa","orcid":"https://orcid.org/0000-0001-5170-1323"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]},{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankur Handa","raw_affiliation_strings":["NVIDIA Robotics,Seattle,USA,WA 98105"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA Robotics,Seattle,USA,WA 98105","institution_ids":["https://openalex.org/I4210127875","https://openalex.org/I58610484"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016775802","display_name":"James Hays","orcid":"https://orcid.org/0000-0001-7016-4252"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Hays","raw_affiliation_strings":["Institute of Robotics and Intelligent Machines, Georgia Tech,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Machines, Georgia Tech,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108257764","display_name":"Dieter Fox","orcid":"https://orcid.org/0009-0009-4694-9127"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]},{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dieter Fox","raw_affiliation_strings":["NVIDIA Robotics,Seattle,USA,WA 98105"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA Robotics,Seattle,USA,WA 98105","institution_ids":["https://openalex.org/I4210127875","https://openalex.org/I58610484"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2386","last_page":"2393"},"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9865000247955322,"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/grasp","display_name":"GRASP","score":0.9826968908309937},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7776840925216675},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6477205157279968},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6472015976905823},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5679309964179993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5577011108398438},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5059065222740173},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49540770053863525},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47288838028907776},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4565470218658447},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.0887182354927063}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9826968908309937},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7776840925216675},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6477205157279968},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6472015976905823},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5679309964179993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5577011108398438},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5059065222740173},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49540770053863525},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47288838028907776},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4565470218658447},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0887182354927063},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros40897.2019.8967960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967960","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:arXiv.org:1904.03754","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.03754","pdf_url":"https://arxiv.org/pdf/1904.03754","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.1904.03754","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1904.03754","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"},{"id":"mag:2934245910","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1904.03754","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.03754","pdf_url":"https://arxiv.org/pdf/1904.03754","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2934245910.pdf"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1542801064","https://openalex.org/W1794703952","https://openalex.org/W1820657498","https://openalex.org/W1892339738","https://openalex.org/W1966747088","https://openalex.org/W1968565040","https://openalex.org/W1970764783","https://openalex.org/W1980919501","https://openalex.org/W1981667747","https://openalex.org/W1985641335","https://openalex.org/W1995905186","https://openalex.org/W1999156278","https://openalex.org/W2025612888","https://openalex.org/W2028098496","https://openalex.org/W2036637075","https://openalex.org/W2050449584","https://openalex.org/W2087379739","https://openalex.org/W2102393714","https://openalex.org/W2106628124","https://openalex.org/W2110208234","https://openalex.org/W2110274708","https://openalex.org/W2123435073","https://openalex.org/W2138983671","https://openalex.org/W2140173255","https://openalex.org/W2161365670","https://openalex.org/W2161719807","https://openalex.org/W2167788274","https://openalex.org/W2201912979","https://openalex.org/W2205950488","https://openalex.org/W2295692686","https://openalex.org/W2544492735","https://openalex.org/W2600030077","https://openalex.org/W2605973302","https://openalex.org/W2910474428","https://openalex.org/W2953249127","https://openalex.org/W2964239605","https://openalex.org/W2980216391","https://openalex.org/W3148383472","https://openalex.org/W6629171406","https://openalex.org/W6639569854","https://openalex.org/W6743974245","https://openalex.org/W6760792157"],"related_works":["https://openalex.org/W3003177118","https://openalex.org/W2913012393","https://openalex.org/W2524190692","https://openalex.org/W2012265003","https://openalex.org/W2043066056","https://openalex.org/W1606226685","https://openalex.org/W2337792660","https://openalex.org/W3006932462","https://openalex.org/W2002868308","https://openalex.org/W2905842019","https://openalex.org/W2906351927","https://openalex.org/W1986079549","https://openalex.org/W2282481780","https://openalex.org/W2300618187","https://openalex.org/W2913919845","https://openalex.org/W2535720571","https://openalex.org/W1984037069","https://openalex.org/W2544535625","https://openalex.org/W3007627128","https://openalex.org/W347627907"],"abstract_inverted_index":{"Grasping":[0],"and":[1,70,90,126],"manipulating":[2],"objects":[3,11],"is":[4,56,88,133],"an":[5],"important":[6],"human":[7,18],"skill.":[8],"Since":[9],"most":[10],"are":[12,29],"designed":[13],"to":[14],"be":[15,78],"manipulated":[16],"by":[17],"hands,":[19],"anthropomorphic":[20,50],"hands":[21,51],"can":[22,77],"enable":[23,37],"richer":[24],"human-robot":[25],"interaction.":[26],"Desirable":[27],"grasps":[28,121],"not":[30],"only":[31],"stable,":[32],"but":[33],"also":[34],"functional:":[35],"they":[36],"post-grasp":[38],"actions":[39],"with":[40],"the":[41,73,101],"object.":[42],"However,":[43],"functional":[44,64,92,120,128],"grasp":[45,65,93],"synthesis":[46,66,94],"for":[47,63,96,104,122],"high":[48],"degree-of-freedom":[49],"from":[52,67,112],"object":[53,68,74],"shape":[54,69],"alone":[55],"challenging.":[57],"We":[58],"present":[59],"ContactGrasp,":[60],"a":[61,107],"framework":[62],"contact":[71,86,110],"on":[72],"surface.":[75],"Contact":[76],"manually":[79],"specified":[80],"or":[81],"obtained":[82],"through":[83],"demonstrations.":[84],"Our":[85],"representation":[87],"object-centric":[89],"allows":[91],"even":[95],"hand":[97,124],"models":[98,125],"different":[99],"than":[100],"one":[102],"used":[103],"demonstration.":[105],"Using":[106],"dataset":[108],"of":[109],"demonstrations":[111],"humans":[113],"grasping":[114],"diverse":[115],"household":[116],"objects,":[117],"we":[118],"synthesize":[119],"three":[123],"two":[127],"intents.":[129],"The":[130],"project":[131],"webpage":[132],"https://contactdb.cc.gatech.edu/contactgrasp.html.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
