Manipulation is one of the most important fields in robotics. Nevertheless, even given the
long history of manipulation research, technologies for multi-fingered robotic hands are still …

With the diversity of manipulator gras** methods and the complexity of the unstructured
environment, the gras** planning of the target object is very complicated. However, the …

Robotic dexterous gras** is the first step to enable human-like dexterous object
manipulation and thus a crucial robotic technology. However, dexterous gras** is much …

Gras** with anthropomorphic robotic hands involves much more hand-object interactions
compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the …

Dexterous gras** aims to produce diverse gras** postures with a high gras**
success rate. Regression-based methods that directly predict gras** parameters given the …

Existing grasp synthesis methods are either analytical or data-driven. The former one is
oftentimes limited to specific application scope. The latter one depends heavily on …

In this paper, we present a convex optimization problem to generate Center of Mass (CoM)
and momentum trajectories of a walking robot, such that the motion robustly satisfies the …

In this paper, we present a novel formulation of the inverse kinematics (IK) problem with
generic constraints as a mixed-integer convex optimization program. The proposed …

Different manipulation tasks require different types of grasps. For example, holding a heavy
tool like a hammer requires a multifingered power grasp offering stability, while holding a …