{"id":"https://openalex.org/W4401607630","doi":"https://doi.org/10.1109/lra.2024.3444714","title":"SEG-Net: Deep Learning Grasping With a Soft Enveloping Gripper","display_name":"SEG-Net: Deep Learning Grasping With a Soft Enveloping Gripper","publication_year":2024,"publication_date":"2024-08-15","ids":{"openalex":"https://openalex.org/W4401607630","doi":"https://doi.org/10.1109/lra.2024.3444714"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3444714","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3444714","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001208066","display_name":"Yufei Hao","orcid":"https://orcid.org/0000-0001-9578-6250"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufei Hao","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5194-8999","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109746480","display_name":"Bin Peng","orcid":"https://orcid.org/0009-0006-7256-6339"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Peng","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0006-7256-6339","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100685577","display_name":"Hui Zhang","orcid":"https://orcid.org/0000-0002-1370-1848"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hui Zhang","raw_affiliation_strings":["Group TAMS, Department Informatics, University of Hamburg, Hamburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-1370-1848","affiliations":[{"raw_affiliation_string":"Group TAMS, Department Informatics, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chang Wang","orcid":"https://orcid.org/0009-0001-6120-7369"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Wang","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-6120-7369","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115596056","display_name":"Rui Wang","orcid":"https://orcid.org/0000-0002-2629-4735"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Wang","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102955348","display_name":"Jianhua Zhang","orcid":"https://orcid.org/0000-0002-4127-3107"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Zhang","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4127-3107","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5431,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65349333,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"9","issue":"10","first_page":"8338","last_page":"8345"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9955999851226807,"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":0.9955999851226807,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9825000166893005,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.551410973072052},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49289917945861816},{"id":"https://openalex.org/keywords/net","display_name":"Net (polyhedron)","score":0.47722533345222473},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.44917529821395874},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35445576906204224},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11473241448402405},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10404506325721741}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.551410973072052},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49289917945861816},{"id":"https://openalex.org/C14166107","wikidata":"https://www.wikidata.org/wiki/Q253829","display_name":"Net (polyhedron)","level":2,"score":0.47722533345222473},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.44917529821395874},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35445576906204224},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11473241448402405},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10404506325721741}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3444714","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3444714","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1983615428","display_name":null,"funder_award_id":"62103131","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4519669056","display_name":null,"funder_award_id":"62203044","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8659003054","display_name":null,"funder_award_id":"3232020","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2007924815","https://openalex.org/W2614511842","https://openalex.org/W2784648116","https://openalex.org/W2889969363","https://openalex.org/W2922426839","https://openalex.org/W2950069298","https://openalex.org/W2953669419","https://openalex.org/W2962736495","https://openalex.org/W2967068439","https://openalex.org/W3030520603","https://openalex.org/W3037772340","https://openalex.org/W3087874248","https://openalex.org/W3089157110","https://openalex.org/W3099210232","https://openalex.org/W3102873856","https://openalex.org/W3107182332","https://openalex.org/W3119155652","https://openalex.org/W3178729712","https://openalex.org/W4225710745","https://openalex.org/W4295934683","https://openalex.org/W4312826119","https://openalex.org/W4380450805","https://openalex.org/W4382463182","https://openalex.org/W6768008868"],"related_works":["https://openalex.org/W2731899572","https://openalex.org/W3215138031","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3009238340","https://openalex.org/W3116076068","https://openalex.org/W2229312674"],"abstract_inverted_index":{"The":[0,64],"emergence":[1],"of":[2,18,66,73,94],"non-fingered":[3],"soft":[4,55,180],"bioinspired":[5],"grippers":[6],"poses":[7,108],"a":[8,19,25,34,54,74],"challenge":[9],"for":[10,27,53,109],"learning-based":[11,61],"grasping":[12,22,38,62,75,142,177],"control":[13],"due":[14],"to":[15,58,90],"the":[16,71,85,92,140,160,179],"lack":[17],"model":[20,77],"describing":[21],"robustness":[23,93],"and":[24,46,84,105,124,138,149,153],"dataset":[26,40],"training.":[28],"In":[29],"this":[30,97],"letter,":[31],"we":[32,99,128,158],"propose":[33],"comprehensive":[35],"pipeline":[36],"encompassing":[37],"evaluation,":[39],"generation,":[41],"deep":[42],"neural":[43],"network":[44],"construction":[45],"training,":[47],"as":[48,50,136,164,166],"well":[49,165],"experimental":[51],"verification":[52],"enveloping":[56,181],"gripper":[57],"investigate":[59],"its":[60],"methods.":[63],"core":[65],"our":[67,110,156,171],"approach":[68],"lies":[69],"in":[70,133],"development":[72],"quality":[76,125],"based":[78],"on":[79],"force":[80],"balance":[81],"between":[82],"objects":[83],"deformed":[86],"gripper,":[87],"enabling":[88],"us":[89],"evaluate":[91],"grasp.":[95],"Using":[96],"model,":[98],"synthesize":[100],"approximately":[101],"10K":[102],"grasp":[103,107,120,122,147],"scenes":[104],"30K":[106],"dataset,":[111,157],"each":[112],"containing":[113],"four":[114],"pixel-wise":[115],"heatmaps":[116],"representing":[117],"depth":[118,134],"information,":[119],"depth,":[121],"axis,":[123],"assessment.":[126],"Subsequently,":[127],"construct":[129],"SEG-Net":[130],"which":[131],"takes":[132],"images":[135],"input":[137],"outputs":[139],"best":[141],"point":[143],"along":[144],"with":[145],"corresponding":[146],"axis":[148],"depth.":[150],"Following":[151],"training":[152],"fine-tuning":[154],"using":[155,178],"validate":[159],"performance":[161],"through":[162],"simulations":[163],"experiments.":[167],"Results":[168],"demonstrate":[169],"that":[170],"proposed":[172],"method":[173],"effectively":[174],"enables":[175],"automatic":[176],"gripper.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
