{"id":"https://openalex.org/W3212593657","doi":"https://doi.org/10.1109/access.2021.3126829","title":"Pre-Grasp Manipulation Planning to Secure Space for Power Grasping","display_name":"Pre-Grasp Manipulation Planning to Secure Space for Power Grasping","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3212593657","doi":"https://doi.org/10.1109/access.2021.3126829","mag":"3212593657"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3126829","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"journal-article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2021.3126829","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039623613","display_name":"Inhyuk Baek","orcid":"https://orcid.org/0000-0003-2948-3432"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"funder","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Inhyuk Baek","raw_affiliation_strings":["Department of Engineering , Hanyang University , , , , , ,"],"affiliations":[{"raw_affiliation_string":"Department of Engineering , Hanyang University , , , , , ,","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103276781","display_name":"Kyoosik Shin","orcid":"https://orcid.org/0000-0003-3334-9340"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"funder","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyoosik Shin","raw_affiliation_strings":["Department of Robot Engineering, Hanyang University, Ansan 15588, South Korea."],"affiliations":[{"raw_affiliation_string":"Department of Robot Engineering, Hanyang University, Ansan 15588, South Korea.","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100737622","display_name":"Hyunjun Kim","orcid":"https://orcid.org/0000-0003-3838-4153"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"funder","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyunjun Kim","raw_affiliation_strings":["Department of Interdisciplinary Robot Engineering Systems, Hanyang University, Ansan 15588, South Korea."],"affiliations":[{"raw_affiliation_string":"Department of Interdisciplinary Robot Engineering Systems, Hanyang University, Ansan 15588, South Korea.","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020479276","display_name":"Seunghoon Hwang","orcid":"https://orcid.org/0000-0001-9191-2416"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"funder","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seunghoon Hwang","raw_affiliation_strings":["Department of Mechatronics Engineering, Hanyang University, Ansan 15588, South Korea."],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Hanyang University, Ansan 15588, South Korea.","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083743939","display_name":"Eric Demeester","orcid":"https://orcid.org/0000-0001-6866-3802"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"funder","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Eric Demeester","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Diepenbeek 3590, Belgium."],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Diepenbeek 3590, Belgium.","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103203864","display_name":"Min-Sung Kang","orcid":"https://orcid.org/0000-0002-8459-5843"},"institutions":[{"id":"https://openalex.org/I93906172","display_name":"Anyang University","ror":"https://ror.org/018pdh902","country_code":"KR","type":"funder","lineage":["https://openalex.org/I93906172"]},{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"funder","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Min-Sung Kang","raw_affiliation_strings":["School of Smart Convergence Engineering, Hanyang University, Ansan 15588, South Korea."],"affiliations":[{"raw_affiliation_string":"School of Smart Convergence Engineering, Hanyang University, Ansan 15588, South Korea.","institution_ids":["https://openalex.org/I93906172","https://openalex.org/I4575257"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.362,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":3,"citation_normalized_percentile":{"value":0.510855,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":71,"max":75},"biblio":{"volume":"9","issue":null,"first_page":"157715","last_page":"157726"},"is_retracted":false,"is_paratext":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":0.9984,"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":0.9953,"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/support-surface","display_name":"Support surface","score":0.43685734},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.42024732}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9595001},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.8059186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6355238},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5865053},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.56785095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5592383},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5004282},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.48807943},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.48159668},{"id":"https://openalex.org/C2780658917","wikidata":"https://www.wikidata.org/wiki/Q7644589","display_name":"Support surface","level":2,"score":0.43685734},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.42024732},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19338483},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15860173},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13388216},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11648479},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07432324},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":4,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3126829","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true},{"is_oa":false,"landing_page_url":"https://doaj.org/article/1f471bf8bf9640cca81feba11824fbcc","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/711968","pdf_url":"https://lirias.kuleuven.be/bitstream/20.500.12942/711968/2/Pre-Grasp_Manipulation_Planning_to_Secure_Space_for_Power_Grasping.pdf","source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":["KU Leuven"],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false},{"is_oa":true,"landing_page_url":"http://hdl.handle.net/1942/36323","pdf_url":"https://documentserver.uhasselt.be//bitstream/1942/36323/1/Pre-Grasp_Manipulation_Planning_to_Secure_Space_for_Power_Grasping.pdf","source":{"id":"https://openalex.org/S4306401926","display_name":"Document Server@UHasselt (UHasselt)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I878454856","host_organization_name":"Hasselt University","host_organization_lineage":["https://openalex.org/I878454856"],"host_organization_lineage_names":["Hasselt University"],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3126829","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[{"score":0.68,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"grants":[{"funder":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy","award_id":"P0008745"}],"datasets":[],"versions":[],"referenced_works_count":26,"referenced_works":["https://openalex.org/W1542761027","https://openalex.org/W1970764783","https://openalex.org/W1977497512","https://openalex.org/W1990451985","https://openalex.org/W2043066056","https://openalex.org/W2059198625","https://openalex.org/W2116233534","https://openalex.org/W2127502734","https://openalex.org/W2140173255","https://openalex.org/W2144573888","https://openalex.org/W2208281149","https://openalex.org/W2211217408","https://openalex.org/W2296486637","https://openalex.org/W2553720814","https://openalex.org/W2564383266","https://openalex.org/W2752997159","https://openalex.org/W2786036844","https://openalex.org/W2801557706","https://openalex.org/W2909622087","https://openalex.org/W2959298711","https://openalex.org/W2964160067","https://openalex.org/W3011446218","https://openalex.org/W3048221559","https://openalex.org/W3090123176","https://openalex.org/W3099210232","https://openalex.org/W3105264685"],"related_works":["https://openalex.org/W4312985843","https://openalex.org/W4210583734","https://openalex.org/W3212593657","https://openalex.org/W3159512259","https://openalex.org/W2743859443","https://openalex.org/W2613999385","https://openalex.org/W2583647647","https://openalex.org/W2356444765","https://openalex.org/W2326995835","https://openalex.org/W2163296013"],"abstract_inverted_index":{"An":[0],"object":[1,28,53,101,143,156,180,193,202],"can":[2,92],"be":[3,93,126],"gripped":[4],"firmly":[5],"through":[6,210],"power":[7,96,120,123,184],"grasping,":[8],"in":[9,112,158],"which":[10,141],"the":[11,19,38,43,52,55,58,62,68,73,100,106,130,137,142,149,155,161,172,179,191,195,201,207],"gripper":[12,59,69],"fingers":[13,60],"and":[14,37,54,61,157,199,212],"palm":[15],"are":[16,115,164,203],"wrapped":[17],"around":[18],"object.":[20,74,173],"However,":[21],"it":[22,30],"is":[23,31,41,48,134,144,186],"difficult":[24],"to":[25,71,136,147,190],"power-grasp":[26,72,148],"an":[27],"if":[29],"placed":[32],"on":[33,140,154,167],"a":[34,80,119,168,220],"support":[35,44,56,63,107,138,162],"surface":[36,64,139,163],"grasping":[39,97,124,185],"point":[40],"near":[42],"surface.":[45,108],"Because":[46],"there":[47],"no":[49],"gap":[50],"between":[51],"surface,":[57],"will":[65],"collide":[66],"when":[67],"attempts":[70],"To":[75],"address":[76],"this,":[77],"we":[78],"propose":[79],"pre-grasp":[81],"manipulation":[82],"planning":[83],"method":[84],"that":[85,182],"uses":[86],"two":[87,215],"robot":[88,217],"arms,":[89],"whereby":[90],"space":[91],"secured":[94],"for":[95,118,175,197],"by":[98],"rotating":[99,198],"while":[102],"being":[103],"supported":[104],"against":[105],"The":[109],"objects":[110],"considered":[111],"this":[113],"study":[114],"appropriately":[116],"shaped":[117],"grasp,":[121],"but":[122],"cannot":[125],"performed":[127],"directly":[128],"because":[129],"desired":[131],"power-grasping":[132,200],"location":[133],"close":[135],"placed.":[145],"First,":[146],"object,":[150],"candidate":[151],"rotation":[152],"axes":[153],"contact":[159],"with":[160,219],"derived":[165],"based":[166],"mesh":[169],"model":[170],"of":[171],"Then,":[174],"each":[176],"such":[177],"axis,":[178],"pose":[181],"allows":[183],"obtained.":[187],"Finally,":[188],"according":[189],"obtained":[192],"pose,":[194],"paths":[196],"planned.":[204],"We":[205],"evaluate":[206],"proposed":[208],"approach":[209],"simulations":[211],"experiments":[213],"using":[214],"UR5e":[216],"arms":[218],"2F-85":[221],"gripper.":[222]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3212593657","counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-04-05T11:23:46.562888","created_date":"2021-11-22"}