Dexterous manipulation, especially dexterous grasping, is a primitive and crucial ability of
robots that allows the implementation of performing human-like behaviors. Deploying the …

Dexterous prosthetic hand is an essential rehabilitation assistant device to improve the life
quality of amputee patients. Despite the continuous emergence of commercial prostheses …

In this paper we utilize the notion of affordances to model relations between task, object and
a grasp to address the problem of task-specific robotic grasping. We use convolutional …

The process of modeling a series of hand-object parameters is crucial for precise and
controllable robotic in-hand manipulation because it enables the mapping from the hand's …

We address the problem of pregrasp sliding manipulation, which is an essential skill when a
thin object cannot be directly grasped from a flat surface. Leveraged on the passive …

We present an optimization framework for grasp and motion planning in the context of
robotic assembly. Typically, grasping locations are provided by higher level planners or as …

We address the problem of planning the placement of a rigid object with a dual-arm robot in
a cluttered environment. In this task, we need to locate a collision-free pose for the object …

In robot manipulation, planning the motion of a robot manipulator to grasp an object is a
fundamental problem. A manipulation planner needs to generate a trajectory of the …

The development of algorithms capable of automatically generating optimal grasp involves
first of all the necessity to define the notion of optimal grasp in relation to the target task. To …

Abstract Service robots are appearing more and more in our daily life. The development of
service robots combines multiple fields of research, from object perception to object …