{"id":"https://openalex.org/W3206071228","doi":"https://doi.org/10.1109/iros51168.2021.9636173","title":"Fuzzy-Depth Objects Grasping Based on FSG Algorithm and a Soft Robotic Hand","display_name":"Fuzzy-Depth Objects Grasping Based on FSG Algorithm and a Soft Robotic Hand","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3206071228","doi":"https://doi.org/10.1109/iros51168.2021.9636173","mag":"3206071228"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636173","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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/2110.10924","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038747150","display_name":"Hanwen Cao","orcid":"https://orcid.org/0000-0001-7997-4403"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Hanwen Cao","raw_affiliation_strings":["T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, China","institution_ids":["https://openalex.org/I4210116924","https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056745971","display_name":"Junda Huang","orcid":"https://orcid.org/0000-0001-6192-4715"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Junda Huang","raw_affiliation_strings":["T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, China","institution_ids":["https://openalex.org/I4210116924","https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101587408","display_name":"Yichuan Li","orcid":"https://orcid.org/0000-0001-8473-5378"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Yichuan Li","raw_affiliation_strings":["T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, China","institution_ids":["https://openalex.org/I4210116924","https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005976047","display_name":"Jianshu Zhou","orcid":"https://orcid.org/0000-0003-3900-3519"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Jianshu Zhou","raw_affiliation_strings":["Hong Kong Center for Logistics Robotics (HKCLR)","T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong Center for Logistics Robotics (HKCLR)","institution_ids":[]},{"raw_affiliation_string":"T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, China","institution_ids":["https://openalex.org/I4210116924","https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Yunhui Liu","raw_affiliation_strings":["Hong Kong Center for Logistics Robotics (HKCLR)","T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong Center for Logistics Robotics (HKCLR)","institution_ids":[]},{"raw_affiliation_string":"T Stone Robotics Institute, The Chinese University of Hong Kong, HKSAR, China","institution_ids":["https://openalex.org/I4210116924","https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.4827,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.94388153,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/computer-science","display_name":"Computer science","score":0.7451632022857666},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.7239685654640198},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6879904270172119},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6742318868637085},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6551871299743652},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.645565390586853},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5877108573913574},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5368948578834534},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4783767759799957},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11819171905517578}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7451632022857666},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7239685654640198},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6879904270172119},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6742318868637085},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6551871299743652},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.645565390586853},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5877108573913574},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5368948578834534},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4783767759799957},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11819171905517578},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636173","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2110.10924","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2110.10924","pdf_url":"https://arxiv.org/pdf/2110.10924","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2110.10924","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2110.10924","pdf_url":"https://arxiv.org/pdf/2110.10924","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1560409712","https://openalex.org/W1820657498","https://openalex.org/W1826399803","https://openalex.org/W1969583232","https://openalex.org/W1984037069","https://openalex.org/W2019904315","https://openalex.org/W2041995828","https://openalex.org/W2056898157","https://openalex.org/W2068127265","https://openalex.org/W2123435073","https://openalex.org/W2144573888","https://openalex.org/W2485911221","https://openalex.org/W2600030077","https://openalex.org/W2625731136","https://openalex.org/W2810773383","https://openalex.org/W2817949609","https://openalex.org/W2906430385","https://openalex.org/W2909622087","https://openalex.org/W2913919845","https://openalex.org/W2914944935","https://openalex.org/W2947336389","https://openalex.org/W2950069298","https://openalex.org/W2953669419","https://openalex.org/W2962875890","https://openalex.org/W2963033241","https://openalex.org/W2963782069","https://openalex.org/W2963840672","https://openalex.org/W2964507111","https://openalex.org/W3003994715","https://openalex.org/W3007451651","https://openalex.org/W3016542991","https://openalex.org/W3034241071","https://openalex.org/W3089874271","https://openalex.org/W3104686955","https://openalex.org/W3130885760","https://openalex.org/W4308291569","https://openalex.org/W6630201400","https://openalex.org/W6696085341","https://openalex.org/W6767494372","https://openalex.org/W6779907659"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W4312814274","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703"],"abstract_inverted_index":{"Autonomous":[0],"grasping":[1,26,124,142],"is":[2,28,48,75,84,94],"an":[3],"important":[4],"factor":[5],"for":[6,96],"robots":[7],"physically":[8],"interacting":[9],"with":[10,35,101],"the":[11,81,120],"environment":[12],"and":[13,22,43,80,109],"executing":[14],"versatile":[15],"tasks.":[16],"However,":[17],"a":[18,59,76,85],"universally":[19],"applicable,":[20],"cost-effective,":[21],"rapidly":[23],"deployable":[24],"autonomous":[25],"approach":[27,69],"still":[29],"limited":[30],"by":[31],"those":[32,62],"target":[33],"objects":[34,45,141],"fuzzy-depth":[36,63,140],"information.":[37],"Examples":[38],"are":[39,126],"transparent,":[40],"specular,":[41],"flat,":[42],"small":[44],"whose":[46],"depth":[47,110],"difficult":[49],"to":[50,61,112,118,128],"be":[51],"accurately":[52],"sensed.":[53],"In":[54],"this":[55],"work,":[56],"we":[57],"present":[58],"solution":[60],"objects.":[64],"The":[65,91,132],"framework":[66],"of":[67],"our":[68],"includes":[70],"two":[71],"major":[72],"components:":[73],"one":[74,83],"soft":[77,92,99],"robotic":[78],"hand":[79,93],"other":[82],"Fuzzy-depth":[86],"Soft":[87],"Grasping":[88],"(FSG)":[89],"algorithm.":[90],"replaceable":[95],"most":[97],"existing":[98],"hands/grippers":[100],"body":[102],"compliance.":[103],"FSG":[104],"algorithm":[105],"exploits":[106],"both":[107],"RGB":[108],"images":[111],"predict":[113],"grasps":[114],"while":[115],"not":[116],"trying":[117],"reconstruct":[119],"whole":[121],"scene.":[122],"Two":[123],"primitives":[125],"designed":[127],"further":[129],"increase":[130],"robustness.":[131],"proposed":[133],"method":[134],"outperforms":[135],"reference":[136],"baselines":[137],"in":[138],"unseen":[139],"experiments":[143],"(84%":[144],"success":[145],"rate).":[146]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
