{"id":"https://openalex.org/W3133879830","doi":"https://doi.org/10.1109/lra.2021.3062250","title":"Dig-Grasping via Direct Quasistatic Interaction Using Asymmetric Fingers: An Approach to Effective Bin Picking","display_name":"Dig-Grasping via Direct Quasistatic Interaction Using Asymmetric Fingers: An Approach to Effective Bin Picking","publication_year":2021,"publication_date":"2021-02-25","ids":{"openalex":"https://openalex.org/W3133879830","doi":"https://doi.org/10.1109/lra.2021.3062250","mag":"3133879830"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3062250","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3062250","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":"https://repository.hkust.edu.hk/ir/bitstream/1783.1-109762/1/034916_1.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072549763","display_name":"Zhekai Tong","orcid":"https://orcid.org/0000-0001-6458-8614"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Zhekai Tong","raw_affiliation_strings":["Hong Kong University of Science and Technology (HKUST), Clear Water Bay, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-6458-8614","affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (HKUST), Clear Water Bay, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060467838","display_name":"Yu Hin Ng","orcid":"https://orcid.org/0000-0001-8608-3211"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yu Hin Ng","raw_affiliation_strings":["Hong Kong University of Science and Technology (HKUST), Clear Water Bay, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-8608-3211","affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (HKUST), Clear Water Bay, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084933936","display_name":"Chung Hee Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chung Hee Kim","raw_affiliation_strings":["Hong Kong University of Science and Technology (HKUST), Clear Water Bay, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-7710-5984","affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (HKUST), Clear Water Bay, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057901696","display_name":"Tierui He","orcid":"https://orcid.org/0000-0002-9786-0263"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tierui He","raw_affiliation_strings":["Hong Kong University of Science and Technology (HKUST), Clear Water Bay, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-9786-0263","affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (HKUST), Clear Water Bay, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100618322","display_name":"Jungwon Seo","orcid":"https://orcid.org/0000-0001-5559-7041"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jungwon Seo","raw_affiliation_strings":["Hong Kong University of Science and Technology (HKUST), Clear Water Bay, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-5559-7041","affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (HKUST), Clear Water Bay, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5072549763"],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":2.6364,"has_fulltext":true,"cited_by_count":23,"citation_normalized_percentile":{"value":0.8962568,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"3033","last_page":"3040"},"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":0.9986000061035156,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/quasistatic-process","display_name":"Quasistatic process","score":0.808380126953125},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6136720776557922},{"id":"https://openalex.org/keywords/bin","display_name":"Bin","score":0.6108294129371643},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5711984038352966},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5208045244216919},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5195969939231873},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.4971623718738556},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.49309131503105164},{"id":"https://openalex.org/keywords/slider","display_name":"Slider","score":0.4649829566478729},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4553864002227783},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43816858530044556},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4134517312049866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34660544991493225},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32697200775146484},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.287960410118103},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1777401864528656},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1770782768726349},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.12882688641548157},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.10785701870918274}],"concepts":[{"id":"https://openalex.org/C4708273","wikidata":"https://www.wikidata.org/wiki/Q900222","display_name":"Quasistatic process","level":2,"score":0.808380126953125},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6136720776557922},{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.6108294129371643},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5711984038352966},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5208045244216919},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5195969939231873},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.4971623718738556},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.49309131503105164},{"id":"https://openalex.org/C2776585123","wikidata":"https://www.wikidata.org/wiki/Q424666","display_name":"Slider","level":2,"score":0.4649829566478729},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4553864002227783},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43816858530044556},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4134517312049866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34660544991493225},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32697200775146484},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.287960410118103},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1777401864528656},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1770782768726349},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.12882688641548157},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.10785701870918274},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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":3,"locations":[{"id":"doi:10.1109/lra.2021.3062250","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3062250","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:repository.ust.hk:1783.1-109762","is_oa":true,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-109762","pdf_url":"https://repository.hkust.edu.hk/ir/bitstream/1783.1-109762/1/034916_1.pdf","source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-109762","is_oa":false,"landing_page_url":"https://repository.hkust.edu.hk/ir/Record/1783.1-109762","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Article"}],"best_oa_location":{"id":"pmh:oai:repository.ust.hk:1783.1-109762","is_oa":true,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-109762","pdf_url":"https://repository.hkust.edu.hk/ir/bitstream/1783.1-109762/1/034916_1.pdf","source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.5099999904632568,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320326427","display_name":"Innovation and Technology Fund","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3133879830.pdf","grobid_xml":"https://content.openalex.org/works/W3133879830.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1762028192","https://openalex.org/W1999156278","https://openalex.org/W2049981393","https://openalex.org/W2050708324","https://openalex.org/W2098030884","https://openalex.org/W2099951169","https://openalex.org/W2128082316","https://openalex.org/W2130527101","https://openalex.org/W2134072104","https://openalex.org/W2149175962","https://openalex.org/W2340856850","https://openalex.org/W2529170537","https://openalex.org/W2790456438","https://openalex.org/W2791516632","https://openalex.org/W2907572567","https://openalex.org/W2910474428","https://openalex.org/W2962736495","https://openalex.org/W2962867039","https://openalex.org/W2963150697","https://openalex.org/W2963394817","https://openalex.org/W2973632412","https://openalex.org/W2980473643","https://openalex.org/W3090501387"],"related_works":["https://openalex.org/W1991151137","https://openalex.org/W2170114283","https://openalex.org/W1976100764","https://openalex.org/W2107701374","https://openalex.org/W2121363410","https://openalex.org/W2577076436","https://openalex.org/W2366731764","https://openalex.org/W2064003576","https://openalex.org/W2281899838","https://openalex.org/W3101838995"],"abstract_inverted_index":{"This":[0],"letter":[1],"introduces":[2],"a":[3,40,50,57,72],"new":[4],"method":[5,15],"for":[6,37],"simultaneously":[7],"singulating":[8,86],"and":[9,33,59,87,101],"picking":[10,88,121],"objects":[11,38],"from":[12],"clutter.":[13],"The":[14],"can":[16],"lead":[17],"to":[18,62,84],"effective":[19],"robotic":[20],"bin":[21,120],"picking,":[22,124],"which":[23],"still":[24],"remains":[25],"elusive":[26],"despite":[27],"its":[28],"importance":[29],"in":[30,118],"many":[31],"industrial":[32],"domestic":[34],"applications,":[35],"especially":[36],"with":[39,67,75],"thin":[41],"profile.":[42],"We":[43],"leverage":[44],"planar":[45],"quasistatic":[46],"pushing":[47,92],"manipulation":[48,99,127],"as":[49,71,81,130],"way":[51],"of":[52,97,110,115],"standardized":[53],"physical":[54],"interaction":[55],"between":[56],"robot":[58],"the":[60,82,90,98,113],"object":[61],"pick.":[63],"A":[64,94],"gripper":[65,74],"designed":[66],"digit":[68],"asymmetry,":[69],"realized":[70],"two-fingered":[73],"different":[76],"finger":[77],"lengths,":[78],"is":[79],"suggested":[80],"key":[83],"successful":[85],"through":[89],"controlled":[91],"maneuver.":[93],"detailed":[95],"account":[96],"process":[100],"design":[102],"principles":[103],"will":[104,133],"be":[105,135],"presented.":[106,136],"An":[107],"extensive":[108],"set":[109],"experiments":[111],"validate":[112],"effectiveness":[114],"our":[116],"approach":[117],"three-dimensional":[119],"tasks.":[122],"Beyond":[123],"more":[125],"complex":[126],"capabilities":[128],"such":[129],"autonomous":[131],"pick-and-place/pack":[132],"also":[134]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
