{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T09:36:54Z","timestamp":1766137014494,"version":"3.37.3"},"reference-count":48,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2018,7,1]],"date-time":"2018-07-01T00:00:00Z","timestamp":1530403200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2018,7,1]],"date-time":"2018-07-01T00:00:00Z","timestamp":1530403200000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2018,7,1]],"date-time":"2018-07-01T00:00:00Z","timestamp":1530403200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2018,7,1]],"date-time":"2018-07-01T00:00:00Z","timestamp":1530403200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"U.S. National Science Foundation through NRI","doi-asserted-by":"publisher","award":["IIS-1227536"],"award-info":[{"award-number":["IIS-1227536"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000005","name":"Department of Defense through the National Defense Science and Engineering Graduate Fellowship Program","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100000005","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Berkeley Deep Drive Program"},{"DOI":"10.13039\/501100004063","name":"Knut and Alice Wallenberg Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004063","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004830","name":"Siemens","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004830","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100006785","name":"Google","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100006785","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100004351","name":"Cisco","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100004351","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100004675","name":"Autodesk","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100004675","id-type":"DOI","asserted-by":"publisher"}]},{"name":"IBM"},{"name":"Amazon Robotics"},{"name":"Toyota Robotics Institute"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Automat. Sci. Eng."],"published-print":{"date-parts":[[2018,7]]},"DOI":"10.1109\/tase.2018.2831724","type":"journal-article","created":{"date-parts":[[2018,5,16]],"date-time":"2018-05-16T19:13:02Z","timestamp":1526497982000},"page":"908-918","source":"Crossref","is-referenced-by-count":16,"title":["Synthesis of Energy-Bounded Planar Caging Grasps Using Persistent Homology"],"prefix":"10.1109","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3204-3024","authenticated-orcid":false,"given":"Jeffrey","family":"Mahler","sequence":"first","affiliation":[]},{"given":"Florian T.","family":"Pokorny","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9624-9825","authenticated-orcid":false,"given":"Sherdil","family":"Niyaz","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6747-9499","authenticated-orcid":false,"given":"Ken","family":"Goldberg","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"article-title":"Persistent homology: Theory and practice","year":"2012","author":"edelsbrunner","key":"ref39"},{"journal-title":"Computational Topology An Introduction","year":"2010","author":"edelsbrunner","key":"ref38"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2014.X.054"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1090\/conm\/453\/08802"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1090\/S0273-0979-09-01249-X"},{"article-title":"Weighted alpha shapes","year":"1992","author":"edelsbrunner","key":"ref30"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1016\/j.cad.2007.05.012"},{"journal-title":"Physics Principles with Applications","year":"2005","author":"giancoli","key":"ref36"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2412051"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.049"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2463651"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2651158"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912442972"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2008.4755966"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630710"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487345"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630780"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2016.2620175"},{"key":"ref18","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/4527.001.0001","author":"mason","year":"2001","journal-title":"Mechanics of Robotic Manipulation"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500303"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908099216"},{"key":"ref4","first-page":"76","volume":"68","author":"bauer","year":"2013","journal-title":"PHAT&#x2014;Persistent homology algorithms toolbox"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2519145"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.506911"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225300"},{"key":"ref5","first-page":"584","article-title":"Problems on polytopes and convex sets","author":"kuperberg","year":"1990","journal-title":"Proc DIMACS Workshop on Polytopes"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.680760"},{"journal-title":"A Mathematical Introduction to Robotic Manipulation","year":"1994","author":"murray","key":"ref7"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908098485"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844741"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/70.720346"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/COASE.2016.7743488"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/56.9297"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225116"},{"key":"ref48","article-title":"Proximity queries and penetration depth computation on 3D game objects","volume":"170","author":"van den bergen","year":"2001","journal-title":"Proc Game Develop Conf"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/BF01891840"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2014.2371852"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1995.525319"},{"journal-title":"CGAL User and Reference Manual","year":"2015","key":"ref42"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2012.VIII.008"},{"key":"ref41","article-title":"Persistent homology computation with a twist","volume":"11","author":"chen","year":"2011","journal-title":"Proc European Workshop on Computational Geometry"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1995.525272"},{"journal-title":"Benchmarking in manipulation research The YCB object and model set and benchmarking protocols","year":"2015","author":"calli","key":"ref44"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915594474"},{"journal-title":"Libccd&#x2014;Collision Detection Between Convex Shapes","year":"2015","author":"fiser","key":"ref43"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2011.VII.009"}],"container-title":["IEEE Transactions on Automation Science and Engineering"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielaam\/8856\/8401732\/8360035-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8856\/8401732\/08360035.pdf?arnumber=8360035","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,8]],"date-time":"2022-04-08T18:51:18Z","timestamp":1649443878000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8360035\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,7]]},"references-count":48,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/tase.2018.2831724","relation":{},"ISSN":["1545-5955","1558-3783"],"issn-type":[{"type":"print","value":"1545-5955"},{"type":"electronic","value":"1558-3783"}],"subject":[],"published":{"date-parts":[[2018,7]]}}}