{"id":"https://openalex.org/W2118262422","doi":"https://doi.org/10.1109/robot.2003.1241860","title":"Automatic grasp planning using shape primitives","display_name":"Automatic grasp planning using shape primitives","publication_year":2004,"publication_date":"2004-03-01","ids":{"openalex":"https://openalex.org/W2118262422","doi":"https://doi.org/10.1109/robot.2003.1241860","mag":"2118262422"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241860","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.7916/d84b39n3","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101883678","display_name":"Andrew Miller","orcid":"https://orcid.org/0000-0001-9964-0646"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.T. Miller","raw_affiliation_strings":["Department of Computer Science, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061397089","display_name":"Steffen Knoop","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"S. Knoop","raw_affiliation_strings":["IAIM, University of Karlsruhe, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IAIM, University of Karlsruhe, Karlsruhe, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066237365","display_name":"Henrik I. Christensen","orcid":"https://orcid.org/0000-0002-7465-7502"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"H.I. Christensen","raw_affiliation_strings":["Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112627047","display_name":"Peter K. Allen","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P.K. Allen","raw_affiliation_strings":["Department of Computer Science, Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":56.1653,"has_fulltext":false,"cited_by_count":715,"citation_normalized_percentile":{"value":0.99933401,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1824","last_page":"1829"},"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":0.9936000108718872,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9851999878883362,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9458125829696655},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.7670471668243408},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7329085469245911},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7162272930145264},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6965369582176208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6835764646530151},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.6306893229484558},{"id":"https://openalex.org/keywords/prehensile-tail","display_name":"Prehensile tail","score":0.6087796688079834},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5649305582046509},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5533937811851501},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5235098004341125},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43549612164497375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13133513927459717},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11625498533248901},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08592936396598816}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9458125829696655},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.7670471668243408},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7329085469245911},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7162272930145264},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6965369582176208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6835764646530151},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.6306893229484558},{"id":"https://openalex.org/C136380597","wikidata":"https://www.wikidata.org/wiki/Q10508905","display_name":"Prehensile tail","level":2,"score":0.6087796688079834},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5649305582046509},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5533937811851501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5235098004341125},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43549612164497375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13133513927459717},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11625498533248901},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08592936396598816},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/robot.2003.1241860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241860","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.1013.9649","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.1013.9649","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://academiccommons.columbia.edu/download/fedora_content/download/ac%3A154426/CONTENT/01241860.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.65.4177","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.65.4177","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.nada.kth.se/~hic/hic-papers/grasp-abstraction-icra03.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.85.1045","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.85.1045","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www1.cs.columbia.edu/~allen/PAPERS/grasp.plan.ra03.pdf","raw_type":"text"},{"id":"pmh:oai:academiccommons.columbia.edu:10.7916/D84B39N3","is_oa":false,"landing_page_url":"https://doi.org/10.7916/D84B39N3","pdf_url":null,"source":{"id":"https://openalex.org/S4306402601","display_name":"Columbia Academic Commons (Columbia University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I78577930","host_organization_name":"Columbia University","host_organization_lineage":["https://openalex.org/I78577930"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Articles"},{"id":"doi:10.7916/d84b39n3","is_oa":true,"landing_page_url":"https://doi.org/10.7916/d84b39n3","pdf_url":null,"source":{"id":"https://openalex.org/S4306402601","display_name":"Columbia Academic Commons (Columbia University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I78577930","host_organization_name":"Columbia University","host_organization_lineage":["https://openalex.org/I78577930"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.7916/d84b39n3","is_oa":true,"landing_page_url":"https://doi.org/10.7916/d84b39n3","pdf_url":null,"source":{"id":"https://openalex.org/S4306402601","display_name":"Columbia Academic Commons (Columbia University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I78577930","host_organization_name":"Columbia University","host_organization_lineage":["https://openalex.org/I78577930"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"},"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1776592063","https://openalex.org/W1794703952","https://openalex.org/W1925324831","https://openalex.org/W2000489460","https://openalex.org/W2039493915","https://openalex.org/W2061476992","https://openalex.org/W2112725185","https://openalex.org/W2123801984","https://openalex.org/W2129723366","https://openalex.org/W2136909956","https://openalex.org/W2140407107","https://openalex.org/W2146903568","https://openalex.org/W2211217408","https://openalex.org/W6638275700"],"related_works":["https://openalex.org/W2465876097","https://openalex.org/W2028231052","https://openalex.org/W2768832826","https://openalex.org/W3166169123","https://openalex.org/W2010045274","https://openalex.org/W2552641899","https://openalex.org/W2105329304","https://openalex.org/W2998125923","https://openalex.org/W197901881","https://openalex.org/W2024629026"],"abstract_inverted_index":{"Automatic":[0],"grasp":[1,68,84],"planning":[2],"for":[3,31],"robotic":[4],"hands":[5],"is":[6,85],"a":[7,44,59,65,110,120],"difficult":[8],"problem":[9,23],"because":[10],"of":[11,15,46,61,67,119],"the":[12,22,32,80,95,101,116],"huge":[13],"number":[14],"possible":[16],"hand":[17],"configurations.":[18],"However,":[19],"humans":[20],"simplify":[21],"by":[24],"choosing":[25],"an":[26,41],"appropriate":[27,30],"prehensile":[28],"posture":[29],"object":[33,42,81],"and":[34,54,71,87,94,115],"task":[35],"to":[36,63,100],"be":[37,77],"performed.":[38],"By":[39],"modeling":[40],"as":[43,50],"set":[45,60,66],"shape":[47],"primitives,":[48],"such":[49],"spheres,":[51],"cylinders,":[52],"cones":[53],"boxes,":[55],"we":[56],"can":[57,75,105],"use":[58],"rules":[62],"generate":[64],"starting":[69],"positions":[70],"pregrasp":[72],"shapes":[73],"that":[74],"then":[76],"tested":[78,86],"on":[79],"model.":[82],"Each":[83],"evaluated":[88],"within":[89],"our":[90],"grasping":[91],"simulator":[92,104],"\"GraspIt!\",":[93],"best":[96],"grasps":[97,108],"are":[98],"presented":[99],"user.":[102],"The":[103],"also":[106],"plan":[107],"in":[109],"complex":[111],"environment":[112],"involving":[113],"obstacles":[114],"reachability":[117],"constraints":[118],"robot":[121],"arm.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":22},{"year":2021,"cited_by_count":45},{"year":2020,"cited_by_count":35},{"year":2019,"cited_by_count":48},{"year":2018,"cited_by_count":48},{"year":2017,"cited_by_count":31},{"year":2016,"cited_by_count":35},{"year":2015,"cited_by_count":40},{"year":2014,"cited_by_count":31},{"year":2013,"cited_by_count":38},{"year":2012,"cited_by_count":60}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
