This work provides a framework for a workspace aware online grasp planner. This
framework greatly improves the performance of standard online grasp planning algorithms …

Robust grasping is a major, and still unsolved, problem in robotics. Information about the 3D
shape of an object can be obtained either from prior knowledge (eg, accurate models of …

The motion of a mechanical system can be defined as a path through its configuration
space. Computing such a path has a computational complexity scaling exponentially with …

Over the last decades, effective grasp planning algorithms, which can handle grasps of
common objects for robotic hands, have been extensively investigated. Among these …

If humanoid robots should work along with humans and should be able to solve repetitive
tasks, we need to enable them with a skill to autonomously plan motions. Motion planning is …

Irreducibility is a theoretical framework for completeness-preserving dimensionality
reduction in motion planning. While classical motion planning searches the full space of …

Robotic grasping and manipulation remains an active area of research despite significant
progress over the past decades. Many existing solutions still struggle to robustly handle …

Precision grasp planning on three-dimensional (3-D) objects has received a lot of attention
in the past few years. However, traditional contact-level methods are not applicable for real …

Providing robots with the ability to grasp objects has, despite decades of research, remained
a challenging problem. The problem is approachable in constrained environments where …