The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining
a good grasp requires algorithms to automatically determine proper contact points on the …

Recent advances in both anthropomorphic robots and bimanual industrial manipulators had
led to an increased interest in the specific problems pertaining to dual arm manipulation. For …

A key challenge in robotics is to create efficient methods for grasping objects with diverse
shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires …

Grasp quality metrics which analyze the contact wrench space are commonly used to
synthesize and analyze preplanned grasps. Preplanned grasping approaches rely on the …

This paper presents a method for one-shot learning of dexterous grasps and grasp
generation for novel objects. A model of each grasp type is learned from a single kinesthetic …

Learning robotic grasps from visual observations is a promising yet challenging task. Recent
research shows its great potential by preparing and learning from large-scale synthetic …

Robotic Grasping has always been an active topic in robotics since grasping is one of the
fundamental but most challenging skills of robots. It demands the coordination of robotic …

This paper presents a novel robot grasping planning approach that extracts grasp strategies
(grasp type, and thumb placement and direction) from human demonstration and integrates …

In this paper, we focus on the problem of feature learning in the presence of scale imbalance
for 6-DoF grasp detection and propose a novel approach to especially address the difficulty …

Human grasps, especially whole-hand grasps, are difficult to animate because of the high
number of degrees of freedom of the hand and the need for the hand to conform naturally to …