{"id":"https://openalex.org/W2154090586","doi":"https://doi.org/10.1109/robot.1990.126173","title":"Knowledge-based robotic grasping","display_name":"Knowledge-based robotic grasping","publication_year":2002,"publication_date":"2002-12-04","ids":{"openalex":"https://openalex.org/W2154090586","doi":"https://doi.org/10.1109/robot.1990.126173","mag":"2154090586"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1990.126173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1990.126173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings., IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.osti.gov/biblio/7007155","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111990919","display_name":"Sharon Stansfield","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"S.A. Stansfield","raw_affiliation_strings":["Sandia National Laboratories, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Sandia National Laboratories, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5111990919"],"corresponding_institution_ids":["https://openalex.org/I4210104735"],"apc_list":null,"apc_paid":null,"fwci":3.1873,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.91788187,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1270","last_page":"1275"},"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":0.9865999817848206,"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":0.9725000262260437,"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":0.7965707778930664},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7113049626350403},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7063615322113037},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6487978100776672},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.645549476146698},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6383499503135681},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6150298118591309},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6095484495162964},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5955010652542114},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5232980847358704},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4998180866241455},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34570300579071045},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24529558420181274},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07567211985588074}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7965707778930664},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7113049626350403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7063615322113037},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6487978100776672},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.645549476146698},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6383499503135681},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6150298118591309},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6095484495162964},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5955010652542114},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5232980847358704},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4998180866241455},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34570300579071045},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24529558420181274},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07567211985588074},{"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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.1990.126173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1990.126173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings., IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:osti.gov:7007155","is_oa":true,"landing_page_url":"https://www.osti.gov/biblio/7007155","pdf_url":null,"source":{"id":"https://openalex.org/S4306402487","display_name":"OSTI OAI (U.S. Department of Energy Office of Scientific and Technical Information)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139351228","host_organization_name":"Office of Scientific and Technical Information","host_organization_lineage":["https://openalex.org/I139351228"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:osti.gov:7007155","is_oa":true,"landing_page_url":"https://www.osti.gov/biblio/7007155","pdf_url":null,"source":{"id":"https://openalex.org/S4306402487","display_name":"OSTI OAI (U.S. Department of Energy Office of Scientific and Technical Information)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139351228","host_organization_name":"Office of Scientific and Technical Information","host_organization_lineage":["https://openalex.org/I139351228"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1587405368","https://openalex.org/W1594182762","https://openalex.org/W1800658182","https://openalex.org/W1910051394","https://openalex.org/W1931406051","https://openalex.org/W1996630649","https://openalex.org/W2041388347","https://openalex.org/W2116817751","https://openalex.org/W2140173255","https://openalex.org/W2140407107","https://openalex.org/W2144573888","https://openalex.org/W2159466156","https://openalex.org/W2211217408","https://openalex.org/W2313368779","https://openalex.org/W2481413294","https://openalex.org/W4248003200","https://openalex.org/W6638084879","https://openalex.org/W6677440257","https://openalex.org/W6688344122"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259"],"abstract_inverted_index":{"A":[0,92],"general-purpose":[1],"robotic":[2],"grasping":[3,33,96],"system":[4,22,42,142],"for":[5,32,150],"use":[6],"in":[7,46,158,174],"unstructured":[8],"environments":[9,47],"is":[10,43,97,101,118],"described.":[11,98],"Using":[12],"computer":[13],"vision":[14],"and":[15,28,55,80,85,87,107,109,121,134,163],"a":[16,41,57,110,145],"compact":[17],"set":[18,146],"of":[19,39,59,65,74,95,104,147],"heuristics,":[20],"the":[21,25,49,66,105,114,129,151,160,167,172,175],"automatically":[23],"generates":[24],"robot":[26,50,161],"arm":[27,164],"hand":[29,106,119,162],"motions":[30],"required":[31],"an":[34,102,140],"unmodeled":[35,130],"object.":[36,131,152],"The":[37],"utility":[38],"such":[40,75],"most":[44],"evident":[45],"where":[48,63],"will":[51],"have":[52],"to":[53,143,165],"grasp":[54],"manipulate":[56],"variety":[58],"unknown":[60],"objects,":[61],"but":[62],"many":[64],"manipulation":[67],"tasks":[68],"may":[69],"be":[70],"relatively":[71],"simple.":[72],"Examples":[73],"domains":[76],"are":[77,125,137,155],"planetary":[78],"exploration":[79],"astronaut":[81],"assistance,":[82],"undersea":[83],"salvage":[84],"rescue,":[86],"nuclear":[88],"waste":[89],"site":[90],"clean-up.":[91],"two-stage":[93],"model":[94],"Stage":[99],"one":[100],"orientation":[103],"wrist":[108],"ballistic":[111],"reach":[112],"toward":[113],"object;":[115],"stage":[116],"two":[117],"preshaping":[120],"adjustment.":[122],"Visual":[123],"features":[124,133],"first":[126],"extracted":[127],"from":[128],"These":[132,153],"their":[135],"relations":[136],"used":[138,157],"by":[139],"expert":[141],"generate":[144],"valid":[148],"reaches/grasps":[149],"grasps":[154],"then":[156],"driving":[159],"bring":[166],"fingers":[168],"into":[169],"contact":[170],"with":[171],"object":[173],"desired":[176],"configuration.<":[177],"<ETX":[178],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[179],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">&gt;</ETX>":[180]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
