{"id":"https://openalex.org/W7105617158","doi":"https://doi.org/10.1109/tase.2025.3629037","title":"Grasp Failure Constraints for Fast and Reliable Pick-and-Place Using Multi-Suction-Cup Grippers","display_name":"Grasp Failure Constraints for Fast and Reliable Pick-and-Place Using Multi-Suction-Cup Grippers","publication_year":2025,"publication_date":"2025-11-13","ids":{"openalex":"https://openalex.org/W7105617158","doi":"https://doi.org/10.1109/tase.2025.3629037"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3629037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3629037","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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":null,"display_name":"Jee-Eun Lee","orcid":"https://orcid.org/0009-0004-8302-520X"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jee-Eun Lee","raw_affiliation_strings":["The University of Texas at Austin, Austin, TX, USA"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Robert Sun","orcid":"https://orcid.org/0009-0006-7829-2447"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Robert Sun","raw_affiliation_strings":["Dexterity Inc., Redwood City, CA, USA"],"affiliations":[{"raw_affiliation_string":"Dexterity Inc., Redwood City, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Andrew Bylard","orcid":"https://orcid.org/0009-0001-1908-5556"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andrew Bylard","raw_affiliation_strings":["Dexterity Inc., Redwood City, CA, USA"],"affiliations":[{"raw_affiliation_string":"Dexterity Inc., Redwood City, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":null,"display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["The University of Texas at Austin, Austin, TX, USA"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":2.4317,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.90904309,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"23","issue":null,"first_page":"317","last_page":"331"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9757000207901001,"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":0.9757000207901001,"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":0.013000000268220901,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.002300000051036477,"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/grasp","display_name":"GRASP","score":0.9395999908447266},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.9369999766349792},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.6940000057220459},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.629800021648407},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.586899995803833},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4415000081062317},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.39640000462532043},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3862000107765198}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9395999908447266},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9369999766349792},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.6940000057220459},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.629800021648407},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.586899995803833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5041999816894531},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4415000081062317},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.415800005197525},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.39640000462532043},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.392300009727478},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3862000107765198},{"id":"https://openalex.org/C87321777","wikidata":"https://www.wikidata.org/wiki/Q635971","display_name":"Suction cup","level":2,"score":0.3531999886035919},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.3391000032424927},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31630000472068787},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.31540000438690186},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.3093000054359436},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.30489999055862427},{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.30309998989105225},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.28119999170303345},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.2773999869823456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27489998936653137},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.27379998564720154},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.267300009727478},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.2621000111103058}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3629037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3629037","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.776064395904541,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W186392945","https://openalex.org/W1525662195","https://openalex.org/W1582919213","https://openalex.org/W1970412155","https://openalex.org/W1971086298","https://openalex.org/W2013036566","https://openalex.org/W2026742600","https://openalex.org/W2032756980","https://openalex.org/W2042613327","https://openalex.org/W2046062329","https://openalex.org/W2068190491","https://openalex.org/W2099454002","https://openalex.org/W2128990851","https://openalex.org/W2146494230","https://openalex.org/W2155612543","https://openalex.org/W2248868695","https://openalex.org/W2283655042","https://openalex.org/W2293883387","https://openalex.org/W2529170537","https://openalex.org/W2560647685","https://openalex.org/W2763052367","https://openalex.org/W2905259751","https://openalex.org/W2963928483","https://openalex.org/W2964057747","https://openalex.org/W2966982786","https://openalex.org/W3044665609","https://openalex.org/W3048356206","https://openalex.org/W3088158297","https://openalex.org/W3104733355","https://openalex.org/W3203468434","https://openalex.org/W3210637564","https://openalex.org/W3216792629","https://openalex.org/W4205837126","https://openalex.org/W4220752092","https://openalex.org/W4221150146","https://openalex.org/W4230616527","https://openalex.org/W4285295739","https://openalex.org/W4293663493","https://openalex.org/W4312231066","https://openalex.org/W4362561002","https://openalex.org/W4387619332","https://openalex.org/W4389665437","https://openalex.org/W4391333932","https://openalex.org/W4399469378","https://openalex.org/W4401414588"],"related_works":[],"abstract_inverted_index":{"Multi-suction-cup":[0],"grippers":[1],"are":[2],"often":[3],"used":[4],"to":[5,21,45,86,102,159,173],"perform":[6],"pick-and-place":[7,107],"robotic":[8],"tasks,":[9],"especially":[10],"in":[11,24,74,90,149,164],"industrial":[12],"settings":[13],"where":[14],"grasping":[15,127],"a":[16,30,55,83,143,150],"wide":[17],"range":[18],"of":[19,27,57,62,68,117,120,179],"light":[20],"heavy":[22,63],"objects":[23,49,64],"limited":[25],"amounts":[26],"time":[28],"is":[29,54,113],"common":[31],"requirement.":[32],"However,":[33],"most":[34],"existing":[35],"works":[36],"focus":[37],"on":[38,59],"using":[39,65],"one":[40],"or":[41],"two":[42],"suction":[43,69,124],"cups":[44],"grasp":[46,78,88,161],"only":[47],"lightweight":[48],"with":[50],"irregular":[51],"shapes.":[52],"There":[53],"lack":[56],"research":[58],"robust":[60],"manipulation":[61],"larger":[66],"arrays":[67],"cups,":[70],"which":[71],"introduces":[72],"challenges":[73],"modeling":[75,87,111],"and":[76,100,105,177],"predicting":[77],"failure.":[79],"This":[80,147],"paper":[81],"presents":[82],"general":[84],"approach":[85],"strength":[89],"multi-suction-cup":[91],"grippers,":[92],"introducing":[93],"new":[94],"constraints":[95,163],"usable":[96],"for":[97,131],"trajectory":[98,166],"planning":[99],"optimization":[101],"achieve":[103],"fast":[104],"reliable":[106],"maneuvers.":[108],"The":[109],"primary":[110],"challenge":[112],"the":[114,118,175,180],"accurate":[115],"prediction":[116],"distribution":[119],"loads":[121],"at":[122],"each":[123],"cup":[125],"while":[126],"objects.":[128],"To":[129],"solve":[130],"this":[132],"load":[133],"distribution,":[134],"we":[135,169],"find":[136],"minimum":[137],"spring":[138],"potential":[139],"energy":[140],"configurations":[141],"through":[142],"simple":[144],"quadratic":[145],"program.":[146],"results":[148,172],"computationally":[151],"efficient":[152],"analytical":[153],"solution":[154],"that":[155],"can":[156],"be":[157],"integrated":[158],"formulate":[160],"failure":[162],"time-optimal":[165],"planning.":[167],"Finally,":[168],"present":[170],"experimental":[171],"validate":[174],"efficiency":[176],"accuracy":[178],"proposed":[181],"model.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-11-13T00:00:00"}
