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 …

Robotic grasping and contact: a review Page 1 Robotic Grasping and Contact: A Review
Antonio Bicchi Centro “E. Piaggio University of Pisa 56126 Pisa Italy bicchi@ing.unipi.it …

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of
the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of …

In this paper we will address the problem of planning optimal grasps. Two general optimality
criteria, that consider the total finger force and the maximum finger force will be introduced …

This paper presents fast and simple algorithms for directly constructing force-closure grasps
based on the shape of the grasped object. The synthesis of force-closure grasps finds in …

Geometric Fundamentals of Robotics provides an elegant introduction to the geometric
concepts that are important to applications in robotics. This second edition is still unique in …

Grasping for novel objects is important for robot manipulation in unstructured environments.
Most of current works require a grasp sampling process to obtain grasp candidates …

In this paper, an attempt at summarizing the evolution and the state of the art in the field of
robot hands is made. In such exposition, a critical evaluation of what in the author's view are …

This article surveys manipulation, including both biological and robotic manipulation.
Biology inspires robotics and demonstrates aspects of manipulation that are far in the future …

The form-closure and force-closure properties of robotic grasp ing are investigated. Loosely
speaking, these properties are related to the capability of the robot to inhibit motions of the …