{"id":"https://openalex.org/W4389666527","doi":"https://doi.org/10.1109/iros55552.2023.10341881","title":"Grasp State Classification in Agricultural Manipulation","display_name":"Grasp State Classification in Agricultural Manipulation","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666527","doi":"https://doi.org/10.1109/iros55552.2023.10341881"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341881","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5039547659","display_name":"Benjamin Walt","orcid":"https://orcid.org/0000-0001-5427-3686"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Benjamin Walt","raw_affiliation_strings":["University of Illinois,Department of Mechanical Science & Engineering,Urbana-Champaign,USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois,Department of Mechanical Science & Engineering,Urbana-Champaign,USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050432620","display_name":"Girish Krishnan","orcid":"https://orcid.org/0000-0002-1005-2862"},"institutions":[{"id":"https://openalex.org/I4210116219","display_name":"Engineering Systems (United States)","ror":"https://ror.org/02qg60849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116219"]},{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Girish Krishnan","raw_affiliation_strings":["University of Illinois,Department of Industrial & Enterprise Systems Engineering,Urbana-Champaign,USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois,Department of Industrial & Enterprise Systems Engineering,Urbana-Champaign,USA","institution_ids":["https://openalex.org/I4210116219","https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5039547659"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":2.0588,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.88838821,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4250","last_page":"4255"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12729","display_name":"Tree Root and Stability Studies","score":0.9664999842643738,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12452","display_name":"Electrowetting and Microfluidic Technologies","score":0.9638000130653381,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9446598887443542},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.8092827200889587},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6479357481002808},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6283162832260132},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5876657962799072},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5338948965072632},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.43512290716171265},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.41922205686569214},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4058667719364166},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.256853848695755}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9446598887443542},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.8092827200889587},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6479357481002808},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6283162832260132},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5876657962799072},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5338948965072632},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.43512290716171265},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.41922205686569214},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4058667719364166},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.256853848695755},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341881","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Zero hunger","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2069269368","https://openalex.org/W2101234009","https://openalex.org/W2162324411","https://openalex.org/W2199073508","https://openalex.org/W2775095556","https://openalex.org/W2911964244","https://openalex.org/W2929667367","https://openalex.org/W2963915174","https://openalex.org/W3016926102","https://openalex.org/W3036844037","https://openalex.org/W3128907628","https://openalex.org/W3166801124","https://openalex.org/W4200165682","https://openalex.org/W4232935419","https://openalex.org/W4239371029","https://openalex.org/W4283787061","https://openalex.org/W4285102406","https://openalex.org/W4287220060","https://openalex.org/W4288771028","https://openalex.org/W4307949303","https://openalex.org/W4313068738","https://openalex.org/W6675354045"],"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/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W4387947522"],"abstract_inverted_index":{"The":[0,70,94],"agricultural":[1],"setting":[2],"poses":[3],"additional":[4],"challenges":[5],"for":[6,32],"robotic":[7],"manipulation,":[8],"as":[9,49],"fruit":[10,43,145],"is":[11,19,30],"firmly":[12],"attached":[13],"to":[14,142],"plants":[15],"and":[16,21,53,56,67,80,99,104,111,114],"the":[17,27,38,77,83,88,102,137],"environment":[18,90],"cluttered":[20],"occluded.":[22],"Therefore,":[23],"accurate":[24],"feedback":[25],"about":[26],"grasp":[28,112],"state":[29,79],"essential":[31],"effective":[33],"harvesting.":[34,146],"This":[35],"study":[36],"examines":[37],"different":[39],"states":[40],"involved":[41],"in":[42,87,101],"picking":[44],"by":[45],"a":[46,58,92,121],"robot,":[47],"such":[48],"successful":[50,118],"grasp,":[51,55],"slip,":[52],"failed":[54],"develops":[57],"learning-based":[59],"classifier":[60,74,95],"using":[61,127],"low-cost,":[62],"computationally":[63],"light":[64],"sensors":[65,84],"(IMU":[66],"IR":[68],"reflectance).":[69],"Random":[71],"Forest":[72],"multi-class":[73],"accurately":[75],"determines":[76],"current":[78,138],"along":[81],"with":[82],"can":[85,132],"operate":[86],"occluded":[89],"of":[91],"plant.":[93,125],"was":[96],"successfully":[97],"trained":[98],"tested":[100],"lab":[103],"showed":[105],"100%":[106],"success":[107,116],"at":[108],"identifying":[109,117],"slip":[110],"failure":[113],"80%":[115],"picks":[119],"on":[120,136],"real":[122],"cherry":[123],"tomato":[124],"By":[126],"this":[128],"classifier,":[129],"corrective":[130],"actions":[131],"be":[133],"planned":[134],"based":[135],"state,":[139],"thus":[140],"leading":[141],"more":[143],"efficient":[144]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}