{"id":"https://openalex.org/W2998266774","doi":"https://doi.org/10.1142/s0219843620500085","title":"Human-Inspired Representation of Object-Specific Grasps for Anthropomorphic Hands","display_name":"Human-Inspired Representation of Object-Specific Grasps for Anthropomorphic Hands","publication_year":2019,"publication_date":"2019-12-23","ids":{"openalex":"https://openalex.org/W2998266774","doi":"https://doi.org/10.1142/s0219843620500085","mag":"2998266774"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843620500085","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843620500085","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid 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/A5037077796","display_name":"Julia Starke","orcid":"https://orcid.org/0000-0002-0006-2370"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Julia Starke","raw_affiliation_strings":["High Performance Humanoid Technologies Lab, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"High Performance Humanoid Technologies Lab, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014468304","display_name":"Christian Eichmann","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Eichmann","raw_affiliation_strings":["High Performance Humanoid Technologies Lab, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"High Performance Humanoid Technologies Lab, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065628082","display_name":"Simon Ottenhaus","orcid":"https://orcid.org/0000-0002-2904-6841"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simon Ottenhaus","raw_affiliation_strings":["High Performance Humanoid Technologies Lab, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"High Performance Humanoid Technologies Lab, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tamim Asfour","raw_affiliation_strings":["High Performance Humanoid Technologies Lab, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"High Performance Humanoid Technologies Lab, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Adenauerring 2, 76131 Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037077796"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":1.8295,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.86084676,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"17","issue":"02","first_page":"2050008","last_page":"2050008"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.984499990940094,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9793999791145325,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.9120733141899109},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8363074064254761},{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.7218737602233887},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.7068105936050415},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.685253381729126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5994912981987},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5029312968254089},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5005033016204834},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.45807597041130066},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43771106004714966},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4215216040611267},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31234586238861084},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.08833861351013184},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08191418647766113}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9120733141899109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8363074064254761},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.7218737602233887},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.7068105936050415},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.685253381729126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5994912981987},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5029312968254089},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5005033016204834},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.45807597041130066},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43771106004714966},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4215216040611267},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31234586238861084},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.08833861351013184},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08191418647766113},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843620500085","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843620500085","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G103084457","display_name":null,"funder_award_id":"16SV7665","funder_id":"https://openalex.org/F4320321114","funder_display_name":"Bundesministerium f\u00fcr Bildung und Forschung"}],"funders":[{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W30360781","https://openalex.org/W1487977235","https://openalex.org/W1794703952","https://openalex.org/W1806263934","https://openalex.org/W1968077281","https://openalex.org/W1971674194","https://openalex.org/W2000661156","https://openalex.org/W2007804184","https://openalex.org/W2058124793","https://openalex.org/W2059385573","https://openalex.org/W2063732873","https://openalex.org/W2070787044","https://openalex.org/W2076215121","https://openalex.org/W2088029896","https://openalex.org/W2088043683","https://openalex.org/W2089213561","https://openalex.org/W2104699355","https://openalex.org/W2106215490","https://openalex.org/W2113028304","https://openalex.org/W2118040554","https://openalex.org/W2130007788","https://openalex.org/W2144573888","https://openalex.org/W2145911037","https://openalex.org/W2154006563","https://openalex.org/W2164575107","https://openalex.org/W2170940415","https://openalex.org/W2261736307","https://openalex.org/W2460926736","https://openalex.org/W2909980200","https://openalex.org/W2913012393","https://openalex.org/W2963669118","https://openalex.org/W3099587965"],"related_works":["https://openalex.org/W4249963983","https://openalex.org/W3004284873","https://openalex.org/W1636820063","https://openalex.org/W3185561939","https://openalex.org/W2101128524","https://openalex.org/W2068051639","https://openalex.org/W2061090284","https://openalex.org/W2771233209","https://openalex.org/W2626492911","https://openalex.org/W1561942766"],"abstract_inverted_index":{"The":[0],"human":[1,27,39,65,87],"hand":[2,28],"is":[3,29,68],"a":[4,80,91,102,158],"complex,":[5],"highly-articulated":[6],"system,":[7],"which":[8],"has":[9,53],"been":[10],"the":[11,23,26,32,57,98,107,116,124,138,145,150],"source":[12],"of":[13,25,38,59,119,161],"inspiration":[14],"in":[15,50,90,101],"designing":[16],"humanoid":[17],"robotic":[18,46],"and":[19,36,41,72,106,140,156],"prosthetic":[20],"hands.":[21,47],"Understanding":[22],"functionality":[24],"crucial":[30],"for":[31],"design,":[33],"efficient":[34],"control":[35],"transfer":[37],"versatility":[40],"dexterity":[42],"to":[43],"such":[44],"anthropomorphic":[45],"Although":[48],"research":[49],"this":[51,76],"area":[52],"made":[54],"significant":[55],"advances,":[56],"synthesis":[58,118],"grasp":[60,99,152],"configurations,":[61],"based":[62],"on":[63,126],"observed":[64],"grasping":[66,88],"data,":[67],"still":[69],"an":[70,111],"unsolved":[71],"challenging":[73],"task.":[74],"In":[75,144],"work":[77],"we":[78,147],"derive":[79],"novel,":[81],"constrained":[82],"autoencoder":[83],"model,":[84],"that":[85,149],"encodes":[86,96],"data":[89],"compact":[92],"representation.":[93],"This":[94],"representation":[95],"both":[97],"type":[100],"three-dimensional":[103],"latent":[104],"space":[105],"object":[108,142],"size":[109],"as":[110],"explicit":[112],"parameter":[113],"constraint":[114],"allowing":[115],"direct":[117],"object-specific":[120],"grasps.":[121],"We":[122],"train":[123],"model":[125],"2250":[127],"grasps":[128],"generated":[129],"by":[130],"15":[131],"subjects":[132],"using":[133],"35":[134],"diverse":[135],"objects":[136],"from":[137],"KIT":[139],"YCB":[141],"sets.":[143],"evaluation":[146],"show":[148],"synthesized":[151],"configurations":[153],"are":[154],"human-like":[155],"have":[157],"high":[159],"probability":[160],"success":[162],"under":[163],"pose":[164],"uncertainty.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
