{"id":"https://openalex.org/W4312465063","doi":"https://doi.org/10.1109/iros47612.2022.9981169","title":"A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects","display_name":"A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312465063","doi":"https://doi.org/10.1109/iros47612.2022.9981169"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981169","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5012192290","display_name":"Tran Nguyen Le","orcid":"https://orcid.org/0000-0003-1139-1943"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["FI","US"],"is_corresponding":true,"raw_author_name":"Tran Nguyen Le","raw_affiliation_strings":["School of Electrical Engineering, Aalto University,Intelligent Robotics Group at the Department of Electrical Engineering and Automation,Finland","Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Finland"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University,Intelligent Robotics Group at the Department of Electrical Engineering and Automation,Finland","institution_ids":["https://openalex.org/I9927081","https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064860545","display_name":"Jens Lundell","orcid":"https://orcid.org/0000-0003-2296-6685"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]},{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["FI","SE","US"],"is_corresponding":false,"raw_author_name":"Jens Lundell","raw_affiliation_strings":["School of Electrical Engineering, Aalto University,Intelligent Robotics Group at the Department of Electrical Engineering and Automation,Finland","Robotics, Perception and Learning Lab, EECS at KTH Royal Institute of Technology, Stockholm, Sweden","Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Finland"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University,Intelligent Robotics Group at the Department of Electrical Engineering and Automation,Finland","institution_ids":["https://openalex.org/I9927081","https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Robotics, Perception and Learning Lab, EECS at KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017337432","display_name":"Fares J. Abu\u2010Dakka","orcid":"https://orcid.org/0000-0001-9062-9416"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI","US"],"is_corresponding":false,"raw_author_name":"Fares J. Abu-Dakka","raw_affiliation_strings":["School of Electrical Engineering, Aalto University,Intelligent Robotics Group at the Department of Electrical Engineering and Automation,Finland","Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Finland"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University,Intelligent Robotics Group at the Department of Electrical Engineering and Automation,Finland","institution_ids":["https://openalex.org/I9927081","https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080940147","display_name":"Ville Kyrki","orcid":"https://orcid.org/0000-0002-5230-5549"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI","US"],"is_corresponding":false,"raw_author_name":"Ville Kyrki","raw_affiliation_strings":["School of Electrical Engineering, Aalto University,Intelligent Robotics Group at the Department of Electrical Engineering and Automation,Finland","Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Finland"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University,Intelligent Robotics Group at the Department of Electrical Engineering and Automation,Finland","institution_ids":["https://openalex.org/I9927081","https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Finland","institution_ids":["https://openalex.org/I9927081"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012192290"],"corresponding_institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I9927081"],"apc_list":null,"apc_paid":null,"fwci":1.4156,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.819818,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3123","last_page":"3129"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9907000064849854,"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":0.980400025844574,"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":0.9634428024291992},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.7936792373657227},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7439818978309631},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6758632063865662},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6369214057922363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6267430186271667},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.6004434823989868},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5197960138320923},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.1646970510482788},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10837671160697937},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07447120547294617}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9634428024291992},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.7936792373657227},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7439818978309631},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6758632063865662},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6369214057922363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6267430186271667},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.6004434823989868},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5197960138320923},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.1646970510482788},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10837671160697937},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07447120547294617},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981169","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1794703952","https://openalex.org/W1971858902","https://openalex.org/W1995414376","https://openalex.org/W2051891405","https://openalex.org/W2106900371","https://openalex.org/W2109163007","https://openalex.org/W2146990154","https://openalex.org/W2155289806","https://openalex.org/W2158782408","https://openalex.org/W2167425734","https://openalex.org/W2167788274","https://openalex.org/W2542262075","https://openalex.org/W2600030077","https://openalex.org/W2963629498","https://openalex.org/W2971446651","https://openalex.org/W2986303149","https://openalex.org/W3048473624","https://openalex.org/W3090651099","https://openalex.org/W3164946289","https://openalex.org/W3178001252","https://openalex.org/W4210549532","https://openalex.org/W4210633449","https://openalex.org/W6755437240","https://openalex.org/W6797896937"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2657478029","https://openalex.org/W2626503888","https://openalex.org/W2080808138","https://openalex.org/W4387962997","https://openalex.org/W4390800284","https://openalex.org/W2129483190"],"abstract_inverted_index":{"Evaluation":[0],"of":[1,17,141,178],"grasps":[2,124],"on":[3,40,48,121,187],"deformable":[4,24,45,59,149,189],"<tex":[5],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[6],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$3\\mathrm{D}$</tex>":[7],"objects":[8,46,60,150],"is":[9,26,37,95,113,162,176],"a":[10,54,101,185,188],"little-studied":[11],"problem,":[12],"even":[13],"if":[14],"the":[15,49,69,77,83,86,89,108,126,144,153,159,170,179],"applicability":[16],"rigid":[18],"object":[19,65],"grasp":[20,55,70,103,109,145,186],"quality":[21,35,56,104,119,156],"measures":[22,36],"for":[23,44,58,100,148],"ones":[25],"an":[27,138],"open":[28],"question.":[29],"A":[30],"central":[31],"issue":[32],"with":[33],"most":[34,180],"their":[38],"dependence":[39],"contact":[41,93],"points,":[42],"which":[43],"depend":[47],"deformations.":[50],"This":[51],"paper":[52],"proposes":[53],"measure":[57],"that":[61],"uses":[62],"information":[63,94],"about":[64],"deformation":[66],"to":[67,106,152,167,174,183],"calculate":[68,168],"quality.":[71,110],"Grasps":[72],"are":[73],"evaluated":[74],"by":[75],"simulating":[76],"deformations":[78],"during":[79],"grasping":[80],"and":[81,88,130],"predicting":[82],"contacts":[84],"between":[85],"gripper":[87],"grasped":[90],"object.":[91,190],"The":[92,111],"then":[96],"used":[97],"as":[98],"input":[99],"new":[102],"metric":[105],"quantify":[107,184],"approach":[112,161],"benchmarked":[114],"against":[115],"two":[116],"classical":[117,154],"rigid-body":[118,155],"metrics":[120],"over":[122,131],"600":[123],"in":[125,143],"Isaac":[127],"gym":[128],"simulation":[129],"50":[132],"real-world":[133],"grasps.":[134],"Experimental":[135],"results":[136],"show":[137],"average":[139],"improvement":[140],"18%":[142],"success":[146],"rate":[147],"compared":[151],"metrics.":[157],"Furthermore,":[158],"proposed":[160],"approximately":[163],"fifteen":[164],"times":[165],"faster":[166],"than":[169],"shake":[171],"task,":[172],"which,":[173],"date,":[175],"one":[177],"reliable":[181],"approaches":[182]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}