This paper addresses the problem of robot grasping in conditions of uncertainty. We
propose a grasp controller that deals robustly with this uncertainty using feedback from …

Sensor-based reactive and hybrid approaches have proven a promising line of study to
address imperfect knowledge in grasping and manipulation. However the reactive …

We study the problem of grasping an unknown object with constant cross section using
various “reactive” robot hands. In the simplest example, we equip a standard parallel-jaw …

This paper focuses on the development of a robotic hand that imitates the movement of a
human hand. The basic movement of the surgeon hand was limited from a wrist, elbow and …

Executing complex robotic tasks including dexterous grasping and manipulation requires a
combination of dexterous robots, intelligent sensors and adequate object information …

Considers the problem of grasping an unknown polygonal flat object using a parallel jaw
gripper. The authors propose to equip a standard gripper with several light-beam sensors …

Robust grasping of objects in uncertainty conditions can be achieved with the visual
monitoring of the interaction between the robot hand and the object. In this paper we …

Manipulators with large numbers of degrees of freedom, from the human hand to the trunk of
an elephant, are common in the biological world. These freedoms allow highly flexible and …

In this paper we present a system for vision-based planning and execution of fingertip
grasps using a four-fingered dextrous hand. Our system does not rely on prior models of the …

The problem of immobilizing an object by placing" fingers"(or points) on its boundary occurs
in the field of dexterous manipulation, manufacturing and geometry. In this dissertation, we …