{"id":"https://openalex.org/W4391759951","doi":"https://doi.org/10.1109/tro.2024.3365010","title":"Selection of Secure Gravity-Based Caging Grasps of Planar Objects: Robustness and Experimental Validation","display_name":"Selection of Secure Gravity-Based Caging Grasps of Planar Objects: Robustness and Experimental Validation","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4391759951","doi":"https://doi.org/10.1109/tro.2024.3365010"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3365010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3365010","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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":"https://openalex.org/A5048293922","display_name":"Alon Shirizly","orcid":"https://orcid.org/0000-0002-1531-7014"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Alon Shirizly","raw_affiliation_strings":["Technion&#x2014;Israel Institute of Technology, Haifa, Israel"],"raw_orcid":"https://orcid.org/0000-0002-1531-7014","affiliations":[{"raw_affiliation_string":"Technion&#x2014;Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049467216","display_name":"Elon Rimon","orcid":"https://orcid.org/0000-0002-8270-6167"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Elon D. Rimon","raw_affiliation_strings":["Technion&#x2014;Israel Institute of Technology, Haifa, Israel"],"raw_orcid":"https://orcid.org/0000-0002-8270-6167","affiliations":[{"raw_affiliation_string":"Technion&#x2014;Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I174306211"],"apc_list":null,"apc_paid":null,"fwci":0.2734,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47223931,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"40","issue":null,"first_page":"1860","last_page":"1873"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9944000244140625,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9850000143051147,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9041382074356079},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6466027498245239},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6083866357803345},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5938429832458496},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5657739639282227},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5614407062530518},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5569787621498108},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5287717580795288},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4573054611682892},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.45026731491088867},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2405618131160736},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23145791888237},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22842499613761902}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9041382074356079},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6466027498245239},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6083866357803345},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5938429832458496},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5657739639282227},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5614407062530518},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5569787621498108},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5287717580795288},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4573054611682892},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.45026731491088867},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2405618131160736},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23145791888237},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22842499613761902},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3365010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3365010","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G8189065822","display_name":null,"funder_award_id":"ISF 1908/18","funder_id":"https://openalex.org/F4320322252","funder_display_name":"Israel Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320322252","display_name":"Israel Science Foundation","ror":"https://ror.org/04sazxf24"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1981667747","https://openalex.org/W2029909232","https://openalex.org/W2047851369","https://openalex.org/W2057371826","https://openalex.org/W2088317162","https://openalex.org/W2109163007","https://openalex.org/W2116817751","https://openalex.org/W2123967128","https://openalex.org/W2189697003","https://openalex.org/W2219151122","https://openalex.org/W2289299303","https://openalex.org/W2492302490","https://openalex.org/W2520639699","https://openalex.org/W2521265935","https://openalex.org/W2550858736","https://openalex.org/W2571420106","https://openalex.org/W2751276040","https://openalex.org/W2796260979","https://openalex.org/W2803196488","https://openalex.org/W2810414326","https://openalex.org/W2884084791","https://openalex.org/W2900646639","https://openalex.org/W2913457281","https://openalex.org/W2965510933","https://openalex.org/W2977786941","https://openalex.org/W3004052809","https://openalex.org/W3041204174","https://openalex.org/W3091666819","https://openalex.org/W3110929421","https://openalex.org/W3118182197","https://openalex.org/W3128210092","https://openalex.org/W3135428035","https://openalex.org/W3180540859","https://openalex.org/W4312406682","https://openalex.org/W6726796012"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W4312985843","https://openalex.org/W2583647647","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259","https://openalex.org/W1640559846"],"abstract_inverted_index":{"Gravity":[0],"based":[1],"caging":[2],"grasps":[3,6,114],"are":[4,144,152],"robotic":[5],"where":[7],"the":[8,29,33,42,55,82,86,92,106,121,138,167,182,197],"robot":[9,19,34,67],"hand":[10,20,35],"passively":[11],"supports":[12,21],"an":[13,22,52],"object":[14,23,30,45,56,62,87,122,210],"against":[15],"gravity.":[16],"When":[17],"a":[18,25,37,48,71,101],"at":[24],"local":[26],"minimum":[27,157],"of":[28,41,54,108,111,131,160,163,169,172,196,205],"gravitational":[31,57],"energy,":[32,58],"forms":[36],"basket":[38,49,93,113,139,174,188,206],"like":[39],"grasp":[40,50,79,140,207],"object.":[43],"Any":[44],"movement":[46],"in":[47],"requires":[51],"increase":[53],"thus":[59],"allowing":[60],"secure":[61,187],"pickup":[63],"and":[64,147,154,184],"transport":[65],"with":[66,116],"hands":[68],"that":[69,104,136],"use":[70],"small":[72],"number":[73],"fingers.":[74],"The":[75,126,156],"<italic":[76,132],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[77,133],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">basket":[78],"depth</i>":[80],"measures":[81],"minimal":[83],"additional":[84],"energy":[85,158],"must":[88],"acquire":[89],"to":[90,180,209],"escape":[91,164],"grasp.":[94,189],"This":[95,190],"paper":[96,191],"extends":[97],"previous":[98],"work":[99],"detailing":[100],"computation":[102,127,198],"scheme":[103,199],"determines":[105],"depth":[107,168],"entire":[109,170],"sets":[110,171],"candidate":[112,173],"associated":[115],"alternative":[117],"finger":[118],"placements":[119],"on":[120,129],"boundary":[123],"before":[124],"pickup.":[125],"relies":[128],"categorization":[130],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">escape":[134],"stances</i>":[135],"mark":[137],"depth:":[141],"double-support":[142],"escapes":[143,151],"first":[145],"analyzed":[146,153],"computed,":[148],"then":[149,178],"single-support":[150],"computed.":[155],"combination":[159],"both":[161],"types":[162],"stances":[165],"defines":[166],"grasps,":[175],"which":[176],"is":[177],"used":[179],"identify":[181],"deepest":[183],"hence":[185],"most":[186],"additionally":[192],"presents":[193],"experimental":[194],"validation":[195],"as":[200,202],"well":[201],"numerical":[203],"analysis":[204],"robustness":[208],"estimation":[211],"errors.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-07T14:30:12.667765","created_date":"2025-10-10T00:00:00"}