{"id":"https://openalex.org/W3116646986","doi":"https://doi.org/10.3390/robotics10010004","title":"Optimal Grasping Pose Synthesis in a Constrained Environment","display_name":"Optimal Grasping Pose Synthesis in a Constrained Environment","publication_year":2020,"publication_date":"2020-12-26","ids":{"openalex":"https://openalex.org/W3116646986","doi":"https://doi.org/10.3390/robotics10010004","mag":"3116646986"},"language":"en","primary_location":{"id":"doi:10.3390/robotics10010004","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010004","pdf_url":"https://www.mdpi.com/2218-6581/10/1/4/pdf?version=1611295212","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/10/1/4/pdf?version=1611295212","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039433875","display_name":"Alessandro Altobelli","orcid":"https://orcid.org/0000-0002-1022-8733"},"institutions":[{"id":"https://openalex.org/I4210094962","display_name":"Culham Science Centre","ror":"https://ror.org/00mdktv23","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210094962"]},{"id":"https://openalex.org/I47367911","display_name":"United Kingdom Atomic Energy Authority","ror":"https://ror.org/0361bwx64","country_code":"GB","type":"government","lineage":["https://openalex.org/I2802373619","https://openalex.org/I4405259123","https://openalex.org/I47367911"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Alessandro Altobelli","raw_affiliation_strings":["RACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UK"],"raw_orcid":"https://orcid.org/0000-0002-1022-8733","affiliations":[{"raw_affiliation_string":"RACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UK","institution_ids":["https://openalex.org/I47367911","https://openalex.org/I4210094962"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027774802","display_name":"Ozan Tokatl\u0131","orcid":"https://orcid.org/0000-0002-4920-1634"},"institutions":[{"id":"https://openalex.org/I4210094962","display_name":"Culham Science Centre","ror":"https://ror.org/00mdktv23","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210094962"]},{"id":"https://openalex.org/I47367911","display_name":"United Kingdom Atomic Energy Authority","ror":"https://ror.org/0361bwx64","country_code":"GB","type":"government","lineage":["https://openalex.org/I2802373619","https://openalex.org/I4405259123","https://openalex.org/I47367911"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ozan Tokatli","raw_affiliation_strings":["RACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UK"],"raw_orcid":"https://orcid.org/0000-0002-4920-1634","affiliations":[{"raw_affiliation_string":"RACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UK","institution_ids":["https://openalex.org/I47367911","https://openalex.org/I4210094962"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075264249","display_name":"Guy Burroughes","orcid":"https://orcid.org/0000-0001-8431-4637"},"institutions":[{"id":"https://openalex.org/I4210094962","display_name":"Culham Science Centre","ror":"https://ror.org/00mdktv23","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210094962"]},{"id":"https://openalex.org/I47367911","display_name":"United Kingdom Atomic Energy Authority","ror":"https://ror.org/0361bwx64","country_code":"GB","type":"government","lineage":["https://openalex.org/I2802373619","https://openalex.org/I4405259123","https://openalex.org/I47367911"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guy Burroughes","raw_affiliation_strings":["RACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UK"],"raw_orcid":"https://orcid.org/0000-0001-8431-4637","affiliations":[{"raw_affiliation_string":"RACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UK","institution_ids":["https://openalex.org/I47367911","https://openalex.org/I4210094962"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029945772","display_name":"Robert Skilton","orcid":"https://orcid.org/0000-0003-1076-906X"},"institutions":[{"id":"https://openalex.org/I4210094962","display_name":"Culham Science Centre","ror":"https://ror.org/00mdktv23","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210094962"]},{"id":"https://openalex.org/I47367911","display_name":"United Kingdom Atomic Energy Authority","ror":"https://ror.org/0361bwx64","country_code":"GB","type":"government","lineage":["https://openalex.org/I2802373619","https://openalex.org/I4405259123","https://openalex.org/I47367911"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Robert Skilton","raw_affiliation_strings":["RACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UK"],"raw_orcid":"https://orcid.org/0000-0003-1076-906X","affiliations":[{"raw_affiliation_string":"RACE, United Kingdom Atomic Energy Authority, Culham Science Centre, Abingdon OX14 3DB, UK","institution_ids":["https://openalex.org/I47367911","https://openalex.org/I4210094962"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5039433875"],"corresponding_institution_ids":["https://openalex.org/I4210094962","https://openalex.org/I47367911"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.1488,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.49215589,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"10","issue":"1","first_page":"4","last_page":"4"},"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":0.9959999918937683,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.989300012588501,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/glovebox","display_name":"Glovebox","score":0.7902985215187073},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6624094843864441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.595425009727478},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5299863815307617},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4794865548610687},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4738134443759918},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3628680109977722},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3396218419075012},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3251544237136841},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25648319721221924}],"concepts":[{"id":"https://openalex.org/C5379308","wikidata":"https://www.wikidata.org/wiki/Q387158","display_name":"Glovebox","level":2,"score":0.7902985215187073},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6624094843864441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.595425009727478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5299863815307617},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4794865548610687},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4738134443759918},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3628680109977722},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3396218419075012},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3251544237136841},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25648319721221924},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics10010004","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010004","pdf_url":"https://www.mdpi.com/2218-6581/10/1/4/pdf?version=1611295212","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1f71e714d12f4bb298c4d88b020be921","is_oa":true,"landing_page_url":"https://doaj.org/article/1f71e714d12f4bb298c4d88b020be921","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 10, Iss 1, p 4 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics10010004","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010004","pdf_url":"https://www.mdpi.com/2218-6581/10/1/4/pdf?version=1611295212","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2513151266","display_name":null,"funder_award_id":"EP/R026084","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G2898516364","display_name":null,"funder_award_id":"EP/R026084","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4287104894","display_name":null,"funder_award_id":"EP/P012450/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6166984701","display_name":null,"funder_award_id":"EPSRC [EP/R026084/1]","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6465377262","display_name":"Robotics and Artificial Intelligence for Nuclear (RAIN)","funder_award_id":"EP/R026084/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6732448074","display_name":null,"funder_award_id":"EP/R026084/1","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G7077141279","display_name":null,"funder_award_id":"EP/T012250/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3116646986.pdf","grobid_xml":"https://content.openalex.org/works/W3116646986.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W90356962","https://openalex.org/W112376206","https://openalex.org/W1559022906","https://openalex.org/W1595474653","https://openalex.org/W1825575905","https://openalex.org/W1965716810","https://openalex.org/W1969583232","https://openalex.org/W1979543088","https://openalex.org/W1981321749","https://openalex.org/W2005793573","https://openalex.org/W2021570254","https://openalex.org/W2021672660","https://openalex.org/W2027070481","https://openalex.org/W2035289152","https://openalex.org/W2046927513","https://openalex.org/W2057299504","https://openalex.org/W2061364557","https://openalex.org/W2064029479","https://openalex.org/W2064878003","https://openalex.org/W2076215121","https://openalex.org/W2094275760","https://openalex.org/W2098106580","https://openalex.org/W2107219641","https://openalex.org/W2109163007","https://openalex.org/W2113263132","https://openalex.org/W2118262422","https://openalex.org/W2130256951","https://openalex.org/W2157192504","https://openalex.org/W2296360731","https://openalex.org/W2542011642","https://openalex.org/W2564869584","https://openalex.org/W2600030077","https://openalex.org/W2605297402","https://openalex.org/W2753635235","https://openalex.org/W2784264468","https://openalex.org/W2791091905","https://openalex.org/W2800140849","https://openalex.org/W2858674205","https://openalex.org/W2884084791","https://openalex.org/W2912685007","https://openalex.org/W2953249127","https://openalex.org/W2963326767","https://openalex.org/W3035886512","https://openalex.org/W3159639739","https://openalex.org/W4211241511","https://openalex.org/W6603671493"],"related_works":["https://openalex.org/W2076049858","https://openalex.org/W2163319948","https://openalex.org/W2133938528","https://openalex.org/W2066988992","https://openalex.org/W2619247083","https://openalex.org/W2151803024","https://openalex.org/W4389461733","https://openalex.org/W2106591386","https://openalex.org/W2619118862","https://openalex.org/W4386669402"],"abstract_inverted_index":{"In":[0,75],"the":[1,41,119,122],"last":[2],"few":[3],"decades,":[4],"several":[5],"approaches":[6],"have":[7,45],"been":[8,104],"presented":[9],"to":[10,46,64,85],"accomplish":[11],"tasks":[12],"with":[13,53,115],"robots":[14],"or":[15,51],"autonomous":[16],"systems":[17,95],"in":[18,22,48,96,107],"a":[19,34,83,93,97,108,112],"glovebox;":[20],"nevertheless,":[21],"nuclear":[23],"facilities,":[24],"risky":[25],"operations":[26],"are":[27,69],"still":[28],"executed":[29],"by":[30],"humans":[31],"that":[32,68],"guarantee":[33],"high":[35],"manipulation":[36,94],"capability":[37],"and":[38,80,118],"dexterity.":[39],"Inside":[40],"gloveboxes,":[42],"robotic":[43],"devices":[44],"operate":[47],"cluttered":[49,109],"environments,":[50],"environments":[52],"limited":[54],"space":[55],"for":[56,92],"movement;":[57],"therefore,":[58],"it":[59],"is":[60,126],"of":[61,121],"significant":[62],"interest":[63],"identify":[65],"grasping":[66,124],"poses":[67],"feasible":[70],"within":[71],"such":[72],"constrained":[73,98],"environments.":[74],"this":[76],"paper,":[77],"we":[78],"present":[79],"experimentally":[81,105],"evaluate":[82],"strategy":[84,102],"synthesise":[86],"optimal":[87],"grasps":[88],"considering":[89],"geometric":[90],"primitives":[91],"environment.":[99],"The":[100],"novel":[101],"has":[103],"evaluated":[106],"environment":[110],"(as":[111],"glovebox":[113],"mock-up)":[114],"realistic":[116],"objects,":[117],"efficacy":[120],"proposed":[123],"algorithm":[125],"proposed.":[127]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}