Underactuated robotics is an emerging research direction in the field of robotics. The control
input of the underactuated robot is less than the degree of freedom of the system. It has the …

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

Recent work has demonstrated the ability of deep reinforcement learning (RL) algorithms to
learn complex robotic behaviours in simulation, including in the domain of multi-fingered …

Anthropomorphic robotic manipulators have high grasp mobility and task flexibility but
struggle to match the practical strength of parallel jaw grippers. Gecko-inspired adhesives …

Methods and systems are described for controlling movement of a continuum robot that
includes a plurality of independently controlled segments along the length of the continuum …

Gripping and holding of objects are key tasks for robotic manipulators. The development of
universal grippers able to pick up unfamiliar objects of widely varying shape and surface …

This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven
by five actuators that is capable of performing a wide range of grasping and in-hand …

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of
the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of …

Current analytical models of grasping and manipulation with robotic hands contain
simplifications and assumptions that limit their application to manufacturing environments …

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