Natural hand manipulations exhibit complex finger maneuvers adaptive to object shapes
and the tasks at hand. Learning dexterous manipulation from data in a brute force way …

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 …

“In-hand manipulation” is the ability to reposition an object in the hand, for example when
adjusting the grasp of a hammer before hammering a nail. The common approach to in …

This article presents a survey of the existing computational algorithms meant for achieving
four important properties in autonomous multifingered robotic hands. The four properties …

We would like to give robots the ability to position and orient parts in the plane by pushing,
particularly when the parts are too large or heavy to be grasped and lifted. Unfortunately, the …

This paper considers the kinematics of hyper-redundant (or" serpentine") robot locomotion
over uneven solid terrain, and presents algorithms to implement a variety of" gaits". The …

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 …

Two-finger antipodal point gras** of arbitrarily shaped smooth 2-D and 3-D objects is
considered. An object function is introduced that maps a finger contact space to the object …

Many practical dextrous manipulation tasks involve large-scale motion of the grasped object
while maintaining a stable grasp. To plan such task, one must control both the motion of the …

Capturing human activities that involve both gross full-body motion and detailed hand
manipulation of objects is challenging for standard motion capture systems. We introduce a …