{"id":"https://openalex.org/W3004076540","doi":"https://doi.org/10.1109/iros40897.2019.8968077","title":"Object Singulation by Nonlinear Pushing for Robotic Grasping","display_name":"Object Singulation by Nonlinear Pushing for Robotic Grasping","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004076540","doi":"https://doi.org/10.1109/iros40897.2019.8968077","mag":"3004076540"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968077","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":"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/A5119606993","display_name":"Jongsoon Won","orcid":"https://orcid.org/0009-0001-4632-0072"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jongsoon Won","raw_affiliation_strings":["Hanyang University,Department of Electronics and Computer Engineering,Korea","Department of Electronics and Computer Engineering, Hanyang University, Korea"],"affiliations":[{"raw_affiliation_string":"Hanyang University,Department of Electronics and Computer Engineering,Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Hanyang University, Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091712251","display_name":"Youngbin Park","orcid":"https://orcid.org/0000-0003-1949-4568"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngbin Park","raw_affiliation_strings":["Hanyang University,Department of Electronics and Computer Engineering,Korea","Department of Electronics and Computer Engineering, Hanyang University, Korea"],"affiliations":[{"raw_affiliation_string":"Hanyang University,Department of Electronics and Computer Engineering,Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Electronics and Computer Engineering, Hanyang University, Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112558760","display_name":"Byung-Ju Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byung-Ju Yi","raw_affiliation_strings":["Hanyang University,Department of Electronic Systems Engineering,Korea","Department of Electronic Systems Engineering, Hanyang University, Korea"],"affiliations":[{"raw_affiliation_string":"Hanyang University,Department of Electronic Systems Engineering,Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Electronic Systems Engineering, Hanyang University, Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030410269","display_name":"Il Hong Suh","orcid":"https://orcid.org/0000-0002-0981-329X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Il Hong Suh","raw_affiliation_strings":["Hanyang University,Division of Computer Science and Engineering, College of Engineering,Korea","Division of Computer Science and Engineering, College of Engineering, Hanyang University, Korea"],"affiliations":[{"raw_affiliation_string":"Hanyang University,Division of Computer Science and Engineering, College of Engineering,Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Division of Computer Science and Engineering, College of Engineering, Hanyang University, Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5119606993"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":0.3326,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.61499893,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2402","last_page":"2407"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9947999715805054,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9682999849319458,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7948840856552124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7625975608825684},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7204172611236572},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6697085499763489},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.6448097825050354},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6126428246498108},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6108969449996948},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5291486382484436},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5047856569290161},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4761790633201599},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4673111140727997},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.45300379395484924},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22433364391326904},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.0743439793586731}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7948840856552124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7625975608825684},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7204172611236572},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6697085499763489},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.6448097825050354},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6126428246498108},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6108969449996948},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5291486382484436},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5047856569290161},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4761790633201599},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4673111140727997},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.45300379395484924},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22433364391326904},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0743439793586731},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968077","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2005775757","https://openalex.org/W2065786943","https://openalex.org/W2087347434","https://openalex.org/W2091695913","https://openalex.org/W2128082316","https://openalex.org/W2201912979","https://openalex.org/W2601066903","https://openalex.org/W2754340109","https://openalex.org/W2810785043","https://openalex.org/W2962793652","https://openalex.org/W2963881378","https://openalex.org/W2964239605","https://openalex.org/W3021544315","https://openalex.org/W4251740737","https://openalex.org/W4301674170","https://openalex.org/W6687808982","https://openalex.org/W6735544697","https://openalex.org/W6741480351","https://openalex.org/W6743974245","https://openalex.org/W6753243525"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739"],"abstract_inverted_index":{"In":[0],"this":[1,31,51],"study,":[2],"we":[3,33,53,80],"aim":[4],"at":[5],"grasping":[6,88],"a":[7,12,16,55,73,114],"single":[8],"target":[9,44,111],"object":[10,45,63,112],"in":[11,30,113,125],"cluttered":[13,115],"environment":[14,116],"using":[15],"robotic":[17,87],"arm.":[18],"While":[19],"dexterous":[20],"grasp":[21],"for":[22,62],"various":[23],"shapes":[24],"of":[25,86,109],"objects":[26],"is":[27,89],"not":[28],"considered":[29],"work,":[32],"focus":[34],"on":[35,66],"developing":[36],"the":[37,43,83,93,99,104,110],"method":[38,56],"to":[39,57,106],"mitigate":[40],"clutter":[41],"near":[42],"as":[46,48],"soon":[47],"quickly.":[49],"For":[50],"purpose,":[52],"propose":[54],"generate":[58],"nonlinear":[59,100],"pushing":[60,95,101,122],"motions":[61],"singulation":[64,108],"based":[65],"an":[67],"off-the-shelf":[68],"machine":[69],"learning":[70],"algorithm":[71],"and":[72],"typical":[74],"semantic":[75],"segmentation":[76],"algorithm.":[77],"Through":[78],"experiments,":[79],"show":[81],"that":[82],"success":[84],"rate":[85],"considerably":[90],"improved":[91],"by":[92],"proposed":[94],"behavior.":[96],"And":[97],"notably,":[98],"trajectories":[102],"allows":[103],"robot":[105],"perform":[107],"with":[117],"fewer":[118],"trials":[119],"than":[120],"linear":[121],"usually":[123],"pursued":[124],"related":[126],"works.":[127]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
