{"id":"https://openalex.org/W2168218128","doi":"https://doi.org/10.1109/robot.2009.5152184","title":"A numerical solution to the ray-shooting problem and its applications in robotic grasping","display_name":"A numerical solution to the ray-shooting problem and its applications in robotic grasping","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2168218128","doi":"https://doi.org/10.1109/robot.2009.5152184","mag":"2168218128"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152184","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5103176848","display_name":"Y. Zheng","orcid":"https://orcid.org/0000-0002-4617-3252"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yu Zheng","raw_affiliation_strings":["Control & Mechatronics Laboratory, Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control & Mechatronics Laboratory, Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073468340","display_name":"Chee\u2013Meng Chew","orcid":"https://orcid.org/0000-0002-6396-4371"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee-Meng Chew","raw_affiliation_strings":["Control & Mechatronics Laboratory, Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control & Mechatronics Laboratory, Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":3.612,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.94211247,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2080","last_page":"2085"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9973000288009644,"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/intersection","display_name":"Intersection (aeronautics)","score":0.7972580790519714},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7412524223327637},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5768937468528748},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5646164417266846},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5642640590667725},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5580438375473022},{"id":"https://openalex.org/keywords/shooting-method","display_name":"Shooting method","score":0.515838086605072},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4962201714515686},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4841342866420746},{"id":"https://openalex.org/keywords/convex-set","display_name":"Convex set","score":0.4122142493724823},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.40057143568992615},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3770027160644531},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37559932470321655},{"id":"https://openalex.org/keywords/boundary-value-problem","display_name":"Boundary value problem","score":0.3686203360557556},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14405730366706848},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.13898968696594238},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.134013831615448}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7972580790519714},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7412524223327637},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5768937468528748},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5646164417266846},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5642640590667725},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5580438375473022},{"id":"https://openalex.org/C4195266","wikidata":"https://www.wikidata.org/wiki/Q1749769","display_name":"Shooting method","level":3,"score":0.515838086605072},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4962201714515686},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4841342866420746},{"id":"https://openalex.org/C49870271","wikidata":"https://www.wikidata.org/wiki/Q193657","display_name":"Convex set","level":4,"score":0.4122142493724823},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.40057143568992615},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3770027160644531},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37559932470321655},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.3686203360557556},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14405730366706848},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.13898968696594238},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.134013831615448},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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":2,"locations":[{"id":"doi:10.1109/robot.2009.5152184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152184","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/73078","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/73078","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1593563200","https://openalex.org/W1794703952","https://openalex.org/W2020335597","https://openalex.org/W2044483173","https://openalex.org/W2046927513","https://openalex.org/W2092221569","https://openalex.org/W2097415784","https://openalex.org/W2098304071","https://openalex.org/W2108998910","https://openalex.org/W2122796818","https://openalex.org/W2138550851","https://openalex.org/W2145392820","https://openalex.org/W2152247404","https://openalex.org/W2153096930","https://openalex.org/W2154631808","https://openalex.org/W2166316739","https://openalex.org/W2168210553","https://openalex.org/W2595897327"],"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/W2040676043","https://openalex.org/W1977643895","https://openalex.org/W2148825261","https://openalex.org/W4317914276","https://openalex.org/W2964001494"],"abstract_inverted_index":{"Based":[0],"on":[1,48],"the":[2,17,20,36,42,49,52,60,106],"distance":[3],"algorithm":[4,14,80],"by":[5],"Gilbert":[6],"et":[7],"al.,":[8],"this":[9,79],"paper":[10],"presents":[11],"a":[12,23,28],"numerical":[13],"for":[15],"computing":[16],"intersection":[18,61],"of":[19,22,35,51,71],"boundary":[21,50],"compact":[24],"convex":[25,53,68],"set":[26,54],"with":[27],"ray":[29],"emanating":[30],"from":[31],"an":[32],"interior":[33],"point":[34,62],"set,":[37],"which":[38,101],"is":[39],"known":[40],"as":[41,66,105],"ray-shooting":[43,107],"problem.":[44,108],"Affinely":[45],"independent":[46],"points":[47],"are":[55],"also":[56],"determined":[57],"such":[58],"that":[59],"can":[63,102],"be":[64,103],"written":[65],"their":[67],"combination.":[69],"Because":[70],"its":[72],"high":[73],"efficiency":[74],"and":[75,97],"other":[76],"good":[77],"qualities,":[78],"provides":[81],"superior":[82],"solutions":[83],"to":[84],"three":[85],"fundamental":[86],"problems":[87],"in":[88],"robotic":[89],"grasping,":[90],"i.e.,":[91],"force-closure":[92],"test,":[93],"contact":[94],"force":[95],"optimization,":[96],"grasp":[98],"quality":[99],"evaluation,":[100],"formulated":[104]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
