BACKGROUND Humans have a fantastic ability to manipulate objects of various shapes,
sizes, and materials and can control the objects' position in confined spaces with the …

This paper presents a comprehensive survey on vision-based robotic grasping. We
conclude three key tasks during vision-based robotic grasping, which are object localization …

In recent years, many dexterous robotic hands have been designed to assist or replace
human hands in executing various tasks. But how to teach them to perform dexterous …

This paper focuses on the problem of learning 6-DOF grasping with a parallel jaw gripper in
simulation. Our key idea is constraining and regularizing grasping interaction learning …

A major goal of humanoid robotics is to enable safe and reliable human-robot collaboration
in realworld scenarios. In this article, we present ARMAR-6, a new high-performance …

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 …

We present a task-oriented grasp model, that encodes grasps that are configurationally
compatible with a given task. For instance, if the task is to pour liquid from a container, the …

Intelligent robotic manipulation is a challenging study of machine intelligence. Although
many dexterous robotic hands have been designed to assist or replace human hands in …

Currently, task-oriented grasp detection approaches are mostly based on pixel-level
affordance detection and semantic segmentation. These pixel-level approaches heavily rely …

Industrial and service robots deal with the complex task of grasping objects that have
different shapes and which are seen from diverse points of view. In order to autonomously …