{"id":"https://openalex.org/W2975474817","doi":"https://doi.org/10.1109/ssrr.2019.8848947","title":"Autonomous Assistance for Versatile Grasping with Rescue Robots","display_name":"Autonomous Assistance for Versatile Grasping with Rescue Robots","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2975474817","doi":"https://doi.org/10.1109/ssrr.2019.8848947","mag":"2975474817"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2019.8848947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2019.8848947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5001025776","display_name":"Marius Schnaubelt","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marius Schnaubelt","raw_affiliation_strings":["Simulation, Systems Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simulation, Systems Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018000361","display_name":"Stefan Kohlbrecher","orcid":"https://orcid.org/0000-0002-8755-1512"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Kohlbrecher","raw_affiliation_strings":["Simulation, Systems Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simulation, Systems Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014799780","display_name":"Oskar von Stryk","orcid":"https://orcid.org/0000-0002-2790-6115"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oskar von Stryk","raw_affiliation_strings":["Simulation, Systems Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simulation, Systems Optimization and Robotics Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":null,"first_page":"210","last_page":"215"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9221611022949219},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8084642887115479},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7326738238334656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.629507303237915},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.600922703742981},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5910945534706116},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5217015147209167},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4810121953487396},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.47573423385620117},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.470967561006546},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4692608714103699},{"id":"https://openalex.org/keywords/urban-search-and-rescue","display_name":"Urban search and rescue","score":0.42284509539604187},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37701505422592163},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16964378952980042}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9221611022949219},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8084642887115479},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7326738238334656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.629507303237915},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.600922703742981},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5910945534706116},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5217015147209167},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4810121953487396},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.47573423385620117},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.470967561006546},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4692608714103699},{"id":"https://openalex.org/C2777811059","wikidata":"https://www.wikidata.org/wiki/Q1253257","display_name":"Urban search and rescue","level":4,"score":0.42284509539604187},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37701505422592163},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16964378952980042},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical 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/ssrr.2019.8848947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2019.8848947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:124090","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/124090/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzver\u00f6ffentlichung"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"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":22,"referenced_works":["https://openalex.org/W1993804695","https://openalex.org/W1997035466","https://openalex.org/W2049617391","https://openalex.org/W2068127265","https://openalex.org/W2076189885","https://openalex.org/W2132476906","https://openalex.org/W2152864241","https://openalex.org/W2166365633","https://openalex.org/W2415351208","https://openalex.org/W2487011518","https://openalex.org/W2577241002","https://openalex.org/W2577354820","https://openalex.org/W2736737714","https://openalex.org/W2750339080","https://openalex.org/W2773972075","https://openalex.org/W2891995018","https://openalex.org/W2949209865","https://openalex.org/W2962737955","https://openalex.org/W2964226622","https://openalex.org/W3088063282","https://openalex.org/W3102734218","https://openalex.org/W6743263902"],"related_works":["https://openalex.org/W2559957734","https://openalex.org/W3174027453","https://openalex.org/W2117893626","https://openalex.org/W2065470608","https://openalex.org/W1488897159","https://openalex.org/W1979426194","https://openalex.org/W341083634","https://openalex.org/W257921636","https://openalex.org/W1915628803","https://openalex.org/W2006593306"],"abstract_inverted_index":{"The":[0,148],"deployment":[1],"of":[2,28,36,38,91,107],"mobile":[3,29],"robots":[4],"in":[5,40,165,180],"urban":[6],"search":[7],"and":[8,42,48,61],"rescue":[9],"(USAR)":[10],"scenarios":[11],"often":[12],"requires":[13],"manipulation":[14,53],"abilities,":[15],"for":[16,18],"example,":[17],"clearing":[19],"debris":[20],"or":[21,84,87],"opening":[22],"a":[23,33,103,122,145],"door.":[24],"Conventional":[25],"teleoperated":[26],"control":[27,157],"manipulator":[30],"arms":[31],"with":[32,110],"high":[34],"number":[35],"degrees":[37],"freedom":[39],"unknown":[41],"unstructured":[43],"environments":[44],"is":[45,99,154],"highly":[46],"challenging":[47],"error-prone.":[49],"Thus,":[50],"flexible":[51,74],"semi-autonomous":[52],"capabilities":[54],"promise":[55],"valuable":[56],"support":[57],"to":[58,143,156,176],"the":[59,108,128,137,152,158,166,174],"operator":[60],"possibly":[62],"also":[63],"prevent":[64],"failures":[65],"during":[66],"missions.":[67],"However,":[68],"most":[69],"existing":[70],"approaches":[71],"are":[72,141],"not":[73],"enough":[75],"as,":[76],"e.g.,":[77],"they":[78],"either":[79],"assume":[80],"a-priori":[81],"known":[82],"objects":[83,119,179],"object":[85],"classes":[86],"require":[88],"manual":[89],"selection":[90],"grasp":[92,111,133,138,177],"poses.":[93],"In":[94],"this":[95],"paper,":[96],"an":[97],"approach":[98,125],"presented":[100],"that":[101,126],"combines":[102],"segmented":[104],"3D":[105],"model":[106],"scene":[109,129],"pose":[112,139],"detection.":[113],"It":[114],"enables":[115],"grasping":[116,159],"arbitrary":[117],"rigid":[118],"based":[120],"on":[121],"geometric":[123],"segmentation":[124],"divides":[127],"into":[130],"objects.":[131],"Antipodal":[132],"candidates":[134],"sampled":[135],"by":[136],"detection":[140],"ranked":[142],"ensure":[144],"robust":[146],"grasp.":[147],"human":[149],"remotely":[150],"operating":[151],"robot":[153,171],"able":[155],"process":[160],"using":[161],"two":[162],"short":[163],"interactions":[164],"user":[167],"interface.":[168],"Our":[169],"real":[170],"experiments":[172],"demonstrate":[173],"capability":[175],"various":[178],"cluttered":[181],"environments.":[182]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
