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 …

This overview presents computational algorithms for generating 3D object grasps with
autonomous multi-fingered robotic hands. Robotic gras** has been an active research …

Tool manipulation is vital for facilitating robots to complete challenging task goals. It requires
reasoning about the desired effect of the task and, thus, properly gras** and manipulating …

In this paper we utilize the notion of affordances to model relations between task, object and
a grasp to address the problem of task-specific robotic gras**. We use convolutional …

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

We present a strategy for gras** of real world objects with two anthropomorphic hands,
the three-fingered 9-DOF hydraulic TUM and the very dextrous 20-DOF pneumatic Bielefeld …

Many robotics problems, from robot motion planning to object manipulation, can be modeled
as mixed-integer convex program (MICPs). However, state-of-the-art algorithms are still …

Intelligent robotic manipulation is a challenging study of machine intelligence. Although
many dexterous robotic hands have been designed to assist or replace human hands in …

Currently, task-oriented grasp detection approaches are mostly based on pixel-level
affordance detection and semantic segmentation. These pixel-level approaches heavily rely …

We design an example based planning framework to generate semantic grasps, stable
grasps that are functionally suitable for specific object manipulation tasks. We propose to …