In this paper we focus on the concept of low-dimensional posture subspaces for artificial
hands. We begin by discussing the applicability of a hand configuration subspace to the …

Robotic gras** in unstructured environments requires the ability to select grasps for
unknown objects and execute them while dealing with uncertainty due to sensor noise or …

This paper propose a novel framework for a data driven grasp planner that indexes partial
sensor data into a database of 3D models with known grasps and transfers grasps from …

In this paper, we build upon recent advances in neuroscience research which have shown
that control of the human hand during gras** is dominated by movement in a configuration …

The ability to autonomously acquire new knowledge through interaction with the
environment is an important research topic in the field of robotics. The knowledge can only …

The NASA/DARPA Robonaut system is evolving from a purely teleoperator controlled
anthropomorphic robot towards a humanoid system with multiple control pathways …

Tactile data from rugged gloves are providing the foundation for develo** autonomous
gras** skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. These custom …

A system is detailed here for using imitation learning to teach a robot to grasp objects using
both hand and whole-body grasps, which use the arms and torso as well as hands …

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

This paper addresses the problem of designing a practical system able to grasp real objects
with a three-fingered robot hand. A general approach for synthesizing two-and three-finger …