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

Robotic gras** and contact: a review Page 1 Robotic Gras** and Contact: A Review
Antonio Bicchi Centro “E. Piaggio University of Pisa 56126 Pisa Italy bicchi@ing.unipi.it …

In this paper, an attempt at summarizing the evolution and the state of the art in the field of
robot hands is made. In such exposition, a critical evaluation of what in the author's view are …

The form-closure and force-closure properties of robotic grasp ing are investigated. Loosely
speaking, these properties are related to the capability of the robot to inhibit motions of the …

The science and engineering of robotic manipulation." Manipulation" refers to a variety of
physical changes made to the world around us. Mechanics of Robotic Manipulation …

This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a
dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that …

This paper addresses the problem of computing stable grasps of 2-D polygonal objects. We
consider the case of a hand equipped with three hard fingers and assume point contact with …

This paper formalizes qualitative test of 3D frictional form-closure grasps of n robotic fingers
as a problem of linear programming (LP). It is well-known that a sufficient and necessary …

This article addresses the problem of computing stable grasps of three-dimensional
polyhedral objects. We consider the case of a hand equipped with four hard fingers and …

A grasped object is defined to be in equilibrium if the sum of all forces and moments acting
on a body equals zero. An equilibrium grasp may be stable or unstable. Force closed grasps …