A key challenge in intelligent robotics is creating robots that are capable of directly
interacting with the world around them to achieve their goals. The last decade has seen …

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 …

Flexible pick-and-place is a fundamental yet challenging task within robotics, in particular
due to the need of an object model for a simple target pose definition. In this work, the robot …

Gras** and manipulating everyday objects in a goal-directed manner is an important
ability of a service robot. The robot needs to reason about task requirements and ground …

The human hand and its dexterity in gras** and manipulating objects are some of the
hallmarks of the human species. For years, anatomic and biomechanical studies have …

While any grasp must satisfy the gras** stability criteria, good grasps depend on the
specific manipulation scenario: the object, its properties and functionalities, as well as the …

This paper presents a manipulation planning algorithm for robots to reorient objects. It
automatically finds a sequence of robot motion that manipulates and prepares an object for …

A key challenge towards autonomous multi-part object assembly is robust sensorimotor
control under uncertainty. In contrast to previous works that rely on a priori knowledge on …