{"id":"https://openalex.org/W2294174507","doi":"https://doi.org/10.1109/lra.2016.2519944","title":"The Next Step in Robot Commissioning: Autonomous Picking and Palletizing","display_name":"The Next Step in Robot Commissioning: Autonomous Picking and Palletizing","publication_year":2016,"publication_date":"2016-01-01","ids":{"openalex":"https://openalex.org/W2294174507","doi":"https://doi.org/10.1109/lra.2016.2519944","mag":"2294174507"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2519944","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2519944","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-53370","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035020090","display_name":"Robert Krug","orcid":null},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Robert Krug","raw_affiliation_strings":["AASS Research Center, \u00d6rebro University, \u00d6rebro, Sweden"],"affiliations":[{"raw_affiliation_string":"AASS Research Center, \u00d6rebro University, \u00d6rebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044352907","display_name":"Todor Stoyanov","orcid":"https://orcid.org/0000-0002-6013-4874"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Todor Stoyanov","raw_affiliation_strings":["AASS Research Center, \u00d6rebro University, \u00d6rebro, Sweden"],"affiliations":[{"raw_affiliation_string":"AASS Research Center, \u00d6rebro University, \u00d6rebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038963943","display_name":"Vinicio Tincani","orcid":null},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vinicio Tincani","raw_affiliation_strings":["Interdepartmental Research Center \u201cE. Piaggio\u201d, Pisa University, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Interdepartmental Research Center \u201cE. Piaggio\u201d, Pisa University, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024851825","display_name":"Henrik Andreasson","orcid":"https://orcid.org/0000-0002-2953-1564"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Henrik Andreasson","raw_affiliation_strings":["AASS Research Center, \u00d6rebro University, \u00d6rebro, Sweden"],"affiliations":[{"raw_affiliation_string":"AASS Research Center, \u00d6rebro University, \u00d6rebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025405042","display_name":"Rafael Mosberger","orcid":null},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Rafael Mosberger","raw_affiliation_strings":["AASS Research Center, \u00d6rebro University, \u00d6rebro, Sweden"],"affiliations":[{"raw_affiliation_string":"AASS Research Center, \u00d6rebro University, \u00d6rebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053445177","display_name":"Gualtiero Fantoni","orcid":"https://orcid.org/0000-0003-0772-600X"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gualtiero Fantoni","raw_affiliation_strings":["Interdepartmental Research Center \u201cE. Piaggio\u201d, Pisa University, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Interdepartmental Research Center \u201cE. Piaggio\u201d, Pisa University, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088586617","display_name":"Achim J. Lilienthal","orcid":"https://orcid.org/0000-0003-0217-9326"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Achim J. Lilienthal","raw_affiliation_strings":["AASS Research Center, \u00d6rebro University, \u00d6rebro, Sweden"],"affiliations":[{"raw_affiliation_string":"AASS Research Center, \u00d6rebro University, \u00d6rebro, Sweden","institution_ids":["https://openalex.org/I26437253"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5035020090"],"corresponding_institution_ids":["https://openalex.org/I26437253"],"apc_list":null,"apc_paid":null,"fwci":6.4274,"has_fulltext":false,"cited_by_count":85,"citation_normalized_percentile":{"value":0.96629394,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"1","issue":"1","first_page":"546","last_page":"553"},"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":0.9972000122070312,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.8440479040145874},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.8212448358535767},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.7224505543708801},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6779258251190186},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5308704376220703},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4913569986820221},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47278639674186707},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39952516555786133},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.334222674369812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29171037673950195},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.12353822588920593},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.07784119248390198},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06518888473510742}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8440479040145874},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8212448358535767},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.7224505543708801},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6779258251190186},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5308704376220703},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4913569986820221},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47278639674186707},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39952516555786133},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.334222674369812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29171037673950195},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.12353822588920593},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.07784119248390198},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06518888473510742},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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":3,"locations":[{"id":"doi:10.1109/lra.2016.2519944","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2519944","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:DiVA.org:oru-53370","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-53370","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:arpi.unipi.it:11568/815263","is_oa":false,"landing_page_url":"http://ieeexplore.ieee.org/document/7387707/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:oru-53370","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-53370","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W316337660","https://openalex.org/W1549280300","https://openalex.org/W1560436958","https://openalex.org/W1969291828","https://openalex.org/W1969583232","https://openalex.org/W1971666595","https://openalex.org/W1980602022","https://openalex.org/W1985023071","https://openalex.org/W2019606703","https://openalex.org/W2027438599","https://openalex.org/W2049238904","https://openalex.org/W2052746172","https://openalex.org/W2057520584","https://openalex.org/W2063704095","https://openalex.org/W2108873643","https://openalex.org/W2109932483","https://openalex.org/W2116341587","https://openalex.org/W2136354320","https://openalex.org/W2136644454","https://openalex.org/W2154847670","https://openalex.org/W2160303287","https://openalex.org/W2162000109","https://openalex.org/W2170620126","https://openalex.org/W2171414411","https://openalex.org/W2508557130","https://openalex.org/W2542011642","https://openalex.org/W3022159334","https://openalex.org/W4253850128","https://openalex.org/W6632662516","https://openalex.org/W6676306204","https://openalex.org/W6684816303"],"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/W2056483949"],"abstract_inverted_index":{"So":[0],"far,":[1],"autonomous":[2,40,59],"order":[3,47,150],"picking":[4,48,60,151],"(commissioning)":[5],"systems":[6],"have":[7],"not":[8],"been":[9],"able":[10,144],"to":[11,145],"meet":[12],"the":[13,36,44,55,93],"stringent":[14],"demands":[15],"regarding":[16],"speed,":[17],"safety,":[18],"and":[19,61,68,157],"accuracy":[20],"of":[21,58,120,124,133,139],"real-world":[22],"warehouse":[23,76],"automation,":[24],"resulting":[25],"in":[26,39,74,92,153],"reliance":[27],"on":[28],"human":[29],"workers.":[30],"In":[31],"this":[32,51],"letter,":[33],"we":[34,53],"target":[35],"next":[37],"step":[38,164],"robot":[41],"commissioning:":[42],"automatizing":[43],"currently":[45],"manual":[46],"procedure.":[49],"To":[50],"end,":[52],"investigate":[54],"use":[56],"case":[57],"palletizing":[62],"with":[63],"a":[64,83,102,121,136,154],"dedicated":[65],"research":[66],"platform":[67],"discuss":[69],"lessons":[70],"learned":[71],"during":[72],"testing":[73],"simplified":[75],"settings.":[77],"The":[78],"main":[79],"theoretical":[80],"contribution":[81],"is":[82,99,143],"novel":[84],"grasp":[85,130],"representation":[86],"scheme":[87],"which":[88,107,126],"allows":[89],"for":[90],"redundancy":[91,98],"gripper":[94],"pose":[95],"placement.":[96],"This":[97],"exploited":[100],"by":[101,118],"local,":[103],"prioritized":[104],"kinematic":[105],"controller":[106],"generates":[108],"reactive":[109],"manipulator":[110],"motions":[111],"on-the-fly.":[112],"We":[113],"validated":[114],"our":[115],"grasping":[116],"approach":[117],"means":[119],"large":[122],"set":[123],"experiments,":[125],"yielded":[127],"an":[128,162],"average":[129],"acquisition":[131],"time":[132],"23.5":[134],"at":[135],"success":[137],"rate":[138],"94.7.":[140],"Our":[141],"system":[142],"autonomously":[146],"carry":[147],"out":[148],"simple":[149],"tasks":[152],"human-safe":[155],"manner,":[156],"as":[158,161],"such":[159],"serves":[160],"initial":[163],"toward":[165],"future":[166],"commercial-scale":[167],"in-house":[168],"logistics":[169],"automation":[170],"solutions.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}