This paper proposes a planning framework to deal with the problem of computing the motion
of a robot with dual arm/hand, during an object pick-and-place task. We consider the …

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 …

This paper presents a simple grasp planning method for a multi-fingered hand. Its purpose is
to compute a context-independent and dense set or list of grasps, instead of just a small set …

Grasping of objects using multi-fingered robotic hands often fails due to small uncertainties
in the hand motion control and the object's pose estimation. To tackle this problem, we …

We present an algorithm that discovers grasp pose solutions for multiple grasp types for a
multi-fingered mechanical gripper using partially-sensed point clouds of unknown objects …

In order to perform a large variety of tasks in interaction with human or in human
environments, a robot needs to guarantee safety and comfort for humans. In this context, the …

The paper deals with computing frictional force-closure grasps of 3D objects problem. The
key idea of the presented work is the demonstration that wrenches associated to any three …

With the goal of advancing the state of automatic robotic grasping, we present a novel
approach that combines machine learning techniques and rigorous validation on a physical …

To interact with humans, robots will possess a software architecture much more complete
than current robots and be equipped with new functionalities. The purpose of this chapter is …

With the goal of advancing the state of automatic robotic grasping, we present a novel
approach that combines machine learning techniques and physical validation on a robotic …