乐胖代购免代理版

{"id":"https://openalex.org/W4390041930","doi":"https://doi.org/10.48550/arxiv.2312.11804","title":"Gravity-aware Grasp Generation with Implicit Grasp Mode Selection for Underactuated Hands","display_name":"Gravity-aware Grasp Generation with Implicit Grasp Mode Selection for Underactuated Hands","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4390041930","doi":"https://doi.org/10.48550/arxiv.2312.11804"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2312.11804","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},"type":"preprint","type_crossref":"posted-content","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/abs/2312.11804","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034562879","display_name":"Tianyi Ko","orcid":"https://orcid.org/0000-0002-2576-9161"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ko, Tianyi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102963090","display_name":"Takuya Ikeda","orcid":"https://orcid.org/0000-0002-3312-5120"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ikeda, Takuya","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044077121","display_name":"T. Stewart","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stewart, Thomas","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039562009","display_name":"Robert Lee","orcid":"https://orcid.org/0000-0001-7535-3554"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Robert","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5113446235","display_name":"Koichi Nishiwaki","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nishiwaki, Koichi","raw_affiliation_strings":[],"affiliations":[]}],"institution_assertions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":0,"max":67},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998,"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":0.9998,"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":0.9958,"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":0.9925,"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/underactuation","display_name":"Underactuation","score":0.86197096},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.77632916},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.5729379},{"id":"https://openalex.org/keywords/representation","display_name":"Representation","score":0.529175},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.44076803}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.97191143},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.86197096},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.77632916},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6065447},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.5729379},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.529175},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5033254},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4565302},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.45439982},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.44076803},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4388216},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43387863},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.351658},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35037345},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2563603},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18920591},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16106558},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10442957},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08816159},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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":3,"locations":[{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2312.11804","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2312.11804","pdf_url":"http://arxiv.org/pdf/2312.11804","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://api.datacite.org/dois/10.48550/arxiv.2312.11804","pdf_url":null,"source":{"id":"https://openalex.org/S4393179698","display_name":"DataCite API","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210145204","host_organization_name":"DataCite","host_organization_lineage":["https://openalex.org/I4210145204"],"host_organization_lineage_names":["DataCite"],"type":"metadata"},"license":null,"license_id":null,"version":null}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2312.11804","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4312985843","https://openalex.org/W4200004409","https://openalex.org/W3035867307","https://openalex.org/W2613999385","https://openalex.org/W2583647647","https://openalex.org/W2387707337","https://openalex.org/W2324418439","https://openalex.org/W2157487448","https://openalex.org/W2078568084","https://openalex.org/W143055317"],"abstract_inverted_index":{"To":[0],"overcome":[1],"the":[2,46,58,69,74,95,110,125],"mechanical":[3],"limitation":[4],"of":[5,25,48,71],"parallel-jaw":[6],"grippers,":[7],"in":[8],"this":[9],"paper,":[10],"we":[11],"present":[12],"a":[13,30,35,39,100],"gravity-aware":[14],"grasp":[15,21,24,88],"generation":[16],"that":[17,45,49,90,103],"supports":[18],"both":[19],"precision":[20],"and":[22,42,51,108,116],"power":[23,65],"underactuated":[26],"hands.":[27],"We":[28,97],"propose":[29,99],"novel":[31],"approach":[32],"to":[33,87],"generate":[34],"large-scale":[36],"dataset":[37],"with":[38,82],"gravity-rejection":[40],"score":[41,50],"experimentally":[43],"confirm":[44],"combination":[47],"classical":[52],"success/fail":[53],"binary":[54],"classification":[55],"is":[56,104],"powerful:":[57],"former":[59],"encourages":[60],"stable":[61],"grasps,":[62,78],"such":[63,79],"as":[64,80],"grasps":[66],"or":[67,85],"grasping":[68],"center":[70],"mass,":[72],"while":[73],"latter":[75],"rejects":[76],"invalid":[77],"colliding":[81],"other":[83],"objects":[84],"attempting":[86],"parts":[89],"are":[91],"too":[92],"large":[93],"for":[94,129],"gripper.":[96],"also":[98],"rotation":[101],"representation":[102],"continuous":[105],"on":[106],"SO(3)":[107],"considers":[109],"grasp's":[111],"physical":[112],"meaning.":[113],"Our":[114],"simulation":[115],"real":[117],"robot":[118],"evaluation":[119],"experiments":[120],"demonstrate":[121],"significant":[122],"improvements":[123],"from":[124],"baseline":[126],"works,":[127],"especially":[128],"heavy":[130],"objects.":[131]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4390041930","counts_by_year":[],"updated_date":"2025-01-04T13:46:22.004135","created_date":"2023-12-22"}