Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires
both reasoning about unseen object parts and potential collisions with the manipulator. Most …

We consider the problem of generating motion plans for a robot that are guaranteed to
succeed despite uncertainty in the environment, parametric model uncertainty, and …

We review the work on data-driven grasp synthesis and the methodologies for sampling and
ranking candidate grasps. We divide the approaches into three groups based on whether …

Dexterous prosthetic hand is an essential rehabilitation assistant device to improve the life
quality of amputee patients. Despite the continuous emergence of commercial prostheses …

One of the challenges in developing real-world autonomous robots is the need for
integrating and rigorously testing high-level scripting, motion planning, perception, and …

We describe the architecture, algorithms, and experiments with HERB, an autonomous
mobile manipulator that performs useful manipulation tasks in the home. We present new …

Robot manipulation, for example, pick-and-place manipulation, is broadly used for intelligent
manufacturing with industrial robots, ocean engineering with underwater robots, service …

The choice of an adequate object shape representation is critical for efficient grasping and
robot manipulation. A good representation has to account for two requirements: it should …

Placing is a necessary skill for a personal robot to have in order to perform tasks such as
arranging objects in a disorganized room. The object placements should not only be stable …

We present a unified framework for grasp planning and in-hand grasp adaptation using
visual, tactile, and proprioceptive feedback. The main objective of the proposed framework is …