{"id":"https://openalex.org/W4226023044","doi":"https://doi.org/10.55417/fr.2022014","title":"Grasping and Transport of Unstructured Collections of Massive Objects","display_name":"Grasping and Transport of Unstructured Collections of Massive Objects","publication_year":2022,"publication_date":"2022-03-01","ids":{"openalex":"https://openalex.org/W4226023044","doi":"https://doi.org/10.55417/fr.2022014"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2022014","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022014","pdf_url":"https://doi.org/10.55417/fr.2022014","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.55417/fr.2022014","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059700950","display_name":"Joseph Bowkett","orcid":"https://orcid.org/0000-0002-3101-489X"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joseph Bowkett","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109","Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109,"],"raw_orcid":"https://orcid.org/0000-0002-3101-489X","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109,","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079292151","display_name":"Sisir Karumanchi","orcid":"https://orcid.org/0000-0002-0685-4125"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sisir Karumanchi","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109"],"raw_orcid":"https://orcid.org/0000-0002-0685-4125","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049896600","display_name":"Renaud Detry","orcid":"https://orcid.org/0000-0003-0597-1167"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Renaud Detry","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109"],"raw_orcid":"https://orcid.org/0000-0003-0597-1167","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5059700950"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":0.243,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.49076472,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"385","last_page":"405"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9855999946594238,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9649999737739563,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9161269664764404},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.659935712814331},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6370373964309692},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6085463166236877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5811024904251099},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5147126317024231},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.48240649700164795},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.467445969581604},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.44680821895599365},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4143766760826111},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34807318449020386},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2797197699546814},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08733475208282471}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9161269664764404},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.659935712814331},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6370373964309692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6085463166236877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5811024904251099},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5147126317024231},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.48240649700164795},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.467445969581604},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.44680821895599365},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4143766760826111},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34807318449020386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2797197699546814},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08733475208282471},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.55417/fr.2022014","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022014","pdf_url":"https://doi.org/10.55417/fr.2022014","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/717616","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/717616","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Field Robotics, vol. 2, (385-405)","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"doi:10.55417/fr.2022014","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022014","pdf_url":"https://doi.org/10.55417/fr.2022014","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5259331294","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G8330157387","display_name":null,"funder_award_id":"W911NF-10-2-0016","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320309398","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4226023044.pdf","grobid_xml":"https://content.openalex.org/works/W4226023044.grobid-xml"},"referenced_works_count":66,"referenced_works":["https://openalex.org/W73339090","https://openalex.org/W230500890","https://openalex.org/W1487779509","https://openalex.org/W1564897360","https://openalex.org/W1794703952","https://openalex.org/W1820657498","https://openalex.org/W1970531977","https://openalex.org/W1978131245","https://openalex.org/W2024060531","https://openalex.org/W2039170454","https://openalex.org/W2085949256","https://openalex.org/W2088502613","https://openalex.org/W2119104235","https://openalex.org/W2129818002","https://openalex.org/W2133443903","https://openalex.org/W2134447392","https://openalex.org/W2140173255","https://openalex.org/W2147168033","https://openalex.org/W2158726602","https://openalex.org/W2165603175","https://openalex.org/W2405660904","https://openalex.org/W2529170537","https://openalex.org/W2533352770","https://openalex.org/W2600030077","https://openalex.org/W2626073992","https://openalex.org/W2754340109","https://openalex.org/W2757918133","https://openalex.org/W2761290119","https://openalex.org/W2772168088","https://openalex.org/W2783693550","https://openalex.org/W2788249996","https://openalex.org/W2789839425","https://openalex.org/W2794537597","https://openalex.org/W2810785043","https://openalex.org/W2890413001","https://openalex.org/W2913739612","https://openalex.org/W2962793652","https://openalex.org/W2962984928","https://openalex.org/W2966615203","https://openalex.org/W3003318685","https://openalex.org/W3018239302","https://openalex.org/W3088158297","https://openalex.org/W3112422759","https://openalex.org/W3132960064","https://openalex.org/W3140402894","https://openalex.org/W4226023044","https://openalex.org/W4234057804","https://openalex.org/W4245681761","https://openalex.org/W4283161610","https://openalex.org/W6602935847","https://openalex.org/W6638325340","https://openalex.org/W6638750020","https://openalex.org/W6642952538","https://openalex.org/W6656506093","https://openalex.org/W6672186150","https://openalex.org/W6679873347","https://openalex.org/W6680841519","https://openalex.org/W6681480332","https://openalex.org/W6684391261","https://openalex.org/W6717409175","https://openalex.org/W6748978124","https://openalex.org/W6783330843","https://openalex.org/W6787597433","https://openalex.org/W6838370783","https://openalex.org/W6921724737","https://openalex.org/W7075682605"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739","https://openalex.org/W3214990115","https://openalex.org/W1976950967","https://openalex.org/W1640559846","https://openalex.org/W2076754931","https://openalex.org/W1564079087"],"abstract_inverted_index":{"We":[0,192],"present":[1],"a":[2,11,65,69,81,95,99,106,138,144,163,176,215],"collection":[3],"of":[4,21,23,36,71,115,140,148,198,213,214],"sensorimotor":[5],"models":[6,32,200],"which,":[7],"when":[8],"paired":[9],"with":[10],"custom,":[12],"mobile":[13],"manipulation":[14],"platform,":[15],"collectively":[16],"enable":[17],"the":[18,34,58,87,109,113,116,130,149,155,160,190,196],"autonomous":[19],"deconstruction":[20],"piles":[22],"debris":[24,38,66],"to":[25,56,85,92,132,143,183],"facilitate":[26],"mobility":[27],"in":[28,201,204],"cluttered":[29],"spaces.":[30],"The":[31,61,151],"address":[33],"problems":[35],"visual":[37,43],"segmentation,":[39],"object":[40,54,62,88,161,173],"selection,":[41],"and":[42,52,79,102,122,187,203],"grasp":[44,50,96,134,156,207],"planning.":[45],"They":[46],"also":[47,119],"exercise":[48],"proprioceptive":[49],"control,":[51],"force-controlled":[53],"extraction":[55],"enact":[57],"grasping":[59,100],"plan.":[60],"selector":[63],"segments":[64],"pile":[67],"into":[68],"set":[70,139],"parts":[72],"that":[73,89],"appear":[74],"disjoint":[75],"from":[76],"one":[77],"another":[78],"executes":[80],"rule-based":[82],"decision":[83],"program":[84],"select":[86],"appears":[90],"easiest":[91],"extract.":[93],"Then":[94],"planner":[97,131],"identifies":[98],"point":[101],"hand":[103],"preshape":[104],"at":[105],"location":[107],"where":[108],"gripper":[110],"configuration":[111],"fits":[112],"shape":[114],"object,":[117],"while":[118],"satisfying":[120],"kinematic":[121],"collision-avoidance":[123],"constraints.":[124],"Our":[125],"geometric":[126],"grasp-prototype":[127],"concept":[128],"allows":[129],"establish":[133],"suitability":[135],"by":[136],"fitting":[137],"shape-grasp":[141],"primitives":[142],"2.5D":[145],"depth":[146],"image":[147],"pile.":[150],"robot":[152],"then":[153],"applies":[154],"reactively,":[157],"pushing":[158],"against":[159],"until":[162],"preset":[164],"resistance":[165],"is":[166],"met.":[167],"Finally,":[168],"an":[169],"admittance":[170],"controller":[171],"guides":[172],"extraction,":[174],"allowing":[175],"prescribed":[177],"end-effector":[178],"compliance":[179],"along":[180],"task-frame":[181],"axes":[182],"minimize":[184],"adverse":[185],"forces":[186],"torques":[188],"on":[189,210],"hand.":[191],"show":[193],"experiments":[194],"demonstrating":[195],"applicability":[197],"those":[199],"isolation":[202],"concert,":[205],"including":[206],"tests":[208],"conducted":[209],"objects":[211],"representative":[212],"human-scale":[216],"urban":[217],"environment.":[218]},"counts_by_year":[{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
