{"id":"https://openalex.org/W2104908341","doi":"https://doi.org/10.1109/robot.2008.4543363","title":"Planning optimal independent contact regions for two-fingered force-closure grasp of a polygon","display_name":"Planning optimal independent contact regions for two-fingered force-closure grasp of a polygon","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2104908341","doi":"https://doi.org/10.1109/robot.2008.4543363","mag":"2104908341"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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/A5027032571","display_name":"Thanathorn Phoka","orcid":null},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":true,"raw_author_name":"Thanathorn Phoka","raw_affiliation_strings":["Department of Computer Engineering, Faculty of Engineering, Chulalongkom University, Thailand","Dept. of Comput. Eng., Chulalongkorn Univ., Chulalongkorn"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Faculty of Engineering, Chulalongkom University, Thailand","institution_ids":["https://openalex.org/I158708052"]},{"raw_affiliation_string":"Dept. of Comput. Eng., Chulalongkorn Univ., Chulalongkorn","institution_ids":["https://openalex.org/I158708052"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040291038","display_name":"Pawin Vongmasa","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pawin Vongmasa","raw_affiliation_strings":["Institute for Computational and Mathematical Engineering, University of Stanford, CA, USA","Institute for computational and mathematical engineering, stanford university, ca 94305, usa#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute for Computational and Mathematical Engineering, University of Stanford, CA, USA","institution_ids":[]},{"raw_affiliation_string":"Institute for computational and mathematical engineering, stanford university, ca 94305, usa#TAB#","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041340839","display_name":"Chaichana Nilwatchararang","orcid":null},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Chaichana Nilwatchararang","raw_affiliation_strings":["Department of Computer Engineering, Faculty of Engineering, Chulalongkom University, Thailand",">department of computer engineering, faculty of engineering, chulalongkorn university, 10330, thailand"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Faculty of Engineering, Chulalongkom University, Thailand","institution_ids":["https://openalex.org/I158708052"]},{"raw_affiliation_string":">department of computer engineering, faculty of engineering, chulalongkorn university, 10330, thailand","institution_ids":["https://openalex.org/I158708052"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083172354","display_name":"Peam Pipattanasomporn","orcid":null},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Peam Pipattanasomporn","raw_affiliation_strings":["Department of Computer Engineering, Faculty of Engineering, Chulalongkom University, Thailand",">department of computer engineering, faculty of engineering, chulalongkorn university, 10330, thailand"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Faculty of Engineering, Chulalongkom University, Thailand","institution_ids":["https://openalex.org/I158708052"]},{"raw_affiliation_string":">department of computer engineering, faculty of engineering, chulalongkorn university, 10330, thailand","institution_ids":["https://openalex.org/I158708052"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010048726","display_name":"Attawith Sudsang","orcid":"https://orcid.org/0000-0002-1667-7193"},"institutions":[{"id":"https://openalex.org/I158708052","display_name":"Chulalongkorn University","ror":"https://ror.org/028wp3y58","country_code":"TH","type":"education","lineage":["https://openalex.org/I158708052"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Attawith Sudsang","raw_affiliation_strings":["Department of Computer Engineering, Faculty of Engineering, Chulalongkom University, Thailand",">department of computer engineering, faculty of engineering, chulalongkorn university, 10330, thailand"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Faculty of Engineering, Chulalongkom University, Thailand","institution_ids":["https://openalex.org/I158708052"]},{"raw_affiliation_string":">department of computer engineering, faculty of engineering, chulalongkorn university, 10330, thailand","institution_ids":["https://openalex.org/I158708052"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5027032571"],"corresponding_institution_ids":["https://openalex.org/I158708052"],"apc_list":null,"apc_paid":null,"fwci":4.1125,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.93810865,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1175","last_page":"1180"},"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":0.996399998664856,"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":0.9936000108718872,"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/rectangle","display_name":"Rectangle","score":0.6859270334243774},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.656093180179596},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.6419286727905273},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.6074228286743164},{"id":"https://openalex.org/keywords/inscribed-figure","display_name":"Inscribed figure","score":0.5409866571426392},{"id":"https://openalex.org/keywords/convex-polygon","display_name":"Convex polygon","score":0.4524745047092438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4315016269683838},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4163004159927368},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.336452841758728},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.3139624297618866},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.21149283647537231}],"concepts":[{"id":"https://openalex.org/C2781302577","wikidata":"https://www.wikidata.org/wiki/Q209","display_name":"Rectangle","level":2,"score":0.6859270334243774},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.656093180179596},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.6419286727905273},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.6074228286743164},{"id":"https://openalex.org/C44074806","wikidata":"https://www.wikidata.org/wiki/Q1066790","display_name":"Inscribed figure","level":2,"score":0.5409866571426392},{"id":"https://openalex.org/C2780034980","wikidata":"https://www.wikidata.org/wiki/Q3259505","display_name":"Convex polygon","level":3,"score":0.4524745047092438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4315016269683838},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4163004159927368},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.336452841758728},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3139624297618866},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.21149283647537231},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7599999904632568,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1794703952","https://openalex.org/W2004146866","https://openalex.org/W2013833162","https://openalex.org/W2041491564","https://openalex.org/W2045509593","https://openalex.org/W2061343052","https://openalex.org/W2071991807","https://openalex.org/W2093801937","https://openalex.org/W2102454209","https://openalex.org/W2140173255","https://openalex.org/W2143043303","https://openalex.org/W2152247404","https://openalex.org/W2153234773","https://openalex.org/W2159044260","https://openalex.org/W2161101447","https://openalex.org/W2169003742","https://openalex.org/W2232710831","https://openalex.org/W2569769452"],"related_works":["https://openalex.org/W2280184873","https://openalex.org/W4300606440","https://openalex.org/W284440572","https://openalex.org/W4365796443","https://openalex.org/W2359398884","https://openalex.org/W2053943947","https://openalex.org/W2072440355","https://openalex.org/W2314484939","https://openalex.org/W4313269929","https://openalex.org/W4240339429"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,7,62,81,95,108,112,116,120,125,134,141,160,167],"problem":[4],"of":[5,17,38,71,107,124],"optimizing":[6,26],"maximal":[8],"independent":[9,31,53,83,97],"contact":[10,54,84,98],"region":[11,85,99],"for":[12,25,68],"two-fingered":[13],"force-":[14],"closure":[15],"grasp":[16],"a":[18,35,128],"rigid":[19],"object":[20,130],"in":[21,87,111,148,176],"2D.":[22],"Existing":[23],"methods":[24],"this":[27],"criterion":[28,104,118,136,162],"considered":[29],"only":[30],"graspable":[32,66],"regions":[33,55,67,76],"on":[34],"given":[36,129],"pair":[37,70],"edges.":[39],"We":[40],"propose":[41],"an":[42],"algorithm":[43,142,168],"that":[44,51],"takes":[45,61],"nearby":[46],"edges":[47],"into":[48],"consideration":[49],"so":[50],"larger":[52],"can":[56,137,163],"be":[57,138,164],"obtained.":[58],"Our":[59],"method":[60],"input":[63],"polygons,":[64],"computes":[65],"each":[69],"edges,":[72],"merge":[73],"all":[74],"adjacent":[75],"together,":[77],"and":[78,172],"then":[79],"find":[80],"best":[82,96],"inscribed":[86],"those":[88],"regions.":[89],"Two":[90],"different":[91],"criteria":[92],"to":[93],"define":[94],"are":[100],"studied.":[101],"The":[102],"first":[103,135],"maximizes":[105,119],"area":[106],"axis-parallel":[109],"rectangle":[110],"configuration":[113],"space,":[114],"while":[115,159],"other":[117,161],"smaller":[121],"side's":[122],"length":[123],"rectangle.":[126],"For":[127],"with":[131],"n":[132],"vertices,":[133],"optimized":[139,165],"using":[140,166],"from":[143,169],"Karen":[144],"Daniels":[145],"et":[146],"al.":[147],"O(n":[149,177],"<sup":[150,154,178],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[151,155,179],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[152,156,180],"log":[153,181],"n)":[157,182],"time,":[158],"Evanthia":[170],"Papadopoulou":[171],"D.":[173],"T.":[174],"Lee":[175],"time.":[183]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}