Industrial and service robots deal with the complex task of grasping objects that have
different shapes and which are seen from diverse points of view. In order to autonomously …

Planning and executing object manipulation requires integrating multiple sensory and motor
channels while acting under uncertainty and complying with task constraints. As the modern …

The popularization of fused deposition modeling (FDM) technology and open-source
microcontrollers has permitted the explosion of electric hand prostheses that can be …

Human hands can perform complex manipulation of various objects. It is beneficial if
anthropomorphic robotic hands can manipulate objects like human hands. However, it is still …

The development of algorithms capable of automatically generating optimal grasp involves
first of all the necessity to define the notion of optimal grasp in relation to the target task. To …

Robust task-oriented grasp planning is vital for autonomous robotic precision assembly
tasks. Knowledge of the objects' geometry and preconditions of the target task should be …

We aim to reliably predict whether a grasp on a known object is successful before it is
executed in the real world. There is an entire suite of grasp metrics that has already been …

This paper and its companion propose a new fractal robotic gripper, drawing inspiration from
the centuryold Fractal Vise. The unusual synergistic properties allow it to passively conform …

Purpose The purpose of this paper is to achieve stable grasping and dexterous in-hand
manipulation, the control of the multi-fingered robotic hand is a difficult problem as the hand …

Grasp quality metrics aim at quantifying different aspects of a grasp configuration between a
specific robot hand and object. They produce a numerical value that allows to rank grasp …