Student or educator? Sign up with your school email and get 6 months of Pro free.
CoChat
Sign Up
Cited by 705

The DOI matches its Crossref record.

Automatic grasp planning using shape primitives

Open access
Miller, A.T., Knoop, S., Christensen, H.I., Allen, P.K.·2004·2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
DOI 10.1109/robot.2003.1241860
Open this paper in CoChat — free account

Abstract

Automatic grasp planning for robotic hands is a difficult problem because of the huge number of possible hand configurations. However, humans simplify the problem by choosing an appropriate prehensile posture appropriate for the object and task to be performed. By modeling an object as a set of shape primitives, such as spheres, cylinders, cones and boxes, we can use a set of rules to generate a set of grasp starting positions and pregrasp shapes that can then be tested on the object model. Each grasp is tested and evaluated within our grasping simulator "GraspIt!", and the best grasps are presented to the user. The simulator can also plan grasps in a complex environment involving obstacles and the reachability constraints of a robot arm.

Overview

The claims and statistics of this paper haven’t been checked yet.

Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.

A few free checks a day · papers already verified open instantly · results are public

Integrity signals

Registry

Crossref · 10.1109/robot.2003.1241860

Cites

Statistics

Verification

Claims the paper makes

The claims and statistics of this paper haven’t been checked yet.

Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.

A few free checks a day · papers already verified open instantly · results are public

Self-check

Percentages, sums and reported differences re-computed from the paper’s own numbers.

The self-check needs the paper’s full text.

Citations

Cited by

See all 705

Metadata

Authors
Miller, A. T., Knoop, S., Christensen, H. I., & Allen, P. K.
Venue
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
Publisher
IEEE
Published
2004-03-01
Pages
1824-1829
ISSN
1050-4729 (ISSN-L)
DOI
10.1109/robot.2003.1241860
OpenAlex
W2118262422
Cited by
705
References
0
FWCI
31.23
Type
conference paper
Language
en
Open access
green

About these checks

Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.

Statistics and arithmetic are recomputed, not judged.

Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.

What counts as a claim ›How we measure confidence ›How we check this ›

Are you an author, or do you see a problem with this page? Request a review

How to cite

Cite CoChat for the checks on this page, and the paper for its own findings.

This page
CoChat. (2026). Citation check: Automatic grasp planning using shape primitives. https://app.cochat.ai/papers/10.1109/robot.2003.1241860
The paper
Miller, A. T., Knoop, S., Christensen, H. I., & Allen, P. K. (2004). Automatic grasp planning using shape primitives. 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). https://doi.org/10.1109/robot.2003.1241860

Data sources

Bibliographic data: Semantic Scholar, OpenAlex, Crossref.

Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).

Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.