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This technical report presents an introduction to different aspects of multi-fingered robot grasping.
Kinematics of machinery
F. Reuleaux · 1965
Earlier work this paper cites.
Kinematics and force analysis of articulated hand
K. Salisbury · 1982
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Task oriented optimal grasping by multifingered robot hands
Z. Li and S.S. Sastry · 1988
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Geometric reasoning for grasping: a computational point of view
J. Pertin-Troccaz · 1988
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On grasp choice, grasp models, and the design of hands for manufacturing tasks
M.R. Cutkosky · 1989
Earlier work this paper cites.
Quantitative Steintz’s theorems with applications to multifingered grasping
D.G. Kirkpatrick, B. Mishra, and C.K. Yap · 1990
Earlier work this paper cites.
The geometry of grasping
X. Markenscoff, L. Ni, and C.H. Papadimitriou · 1990
Earlier work this paper cites.
Robot Motion Planning
J.-C. Latombe · 1991
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Planning optimal grasps
C. Ferrari and J. Canny · 1992
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On the stability of instantaneous velocity of grasped frictionless objects
J.C. Trinkle · 1992
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A quantitative test for form closure grasps
J.C. Trinkle · 1992
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Orienting polygonal parts without sensors
K.Y. Goldberg · 1993
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A mathematical introduction to robotic manipulation
R.M. Murray, Z. Li, and S.S. Sastry · 1994
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Parallel methods for synthesizing whole-hand grasps from generalized prototypes
N. Pollard · 1994
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On computing three-finger force-closure grasps of polygonal objects
J. Ponce and B. Faverjon · 1995
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The Quickhull algorithm for convex hulls
C. Barber, D. P. Dobkin, and H. Huhdanpaa · 1996
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On force and form closure for multiple finger grasps
E. Rimon and J.W. Burdick · 1996
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Robot grasp synthesis algorithms: a survey
K.B. Shimoga · 1996
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The future of robot and human intelligence
H. Moravec · 1998
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Mobility of bodies in contact–part 1: a 2nd order mobility index for multiple-finger grasps
E. Rimon and J.W. Burdick · 1998
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Mobility of bodies in contact–part 2: how forces are generated by curvature effects
E. Rimon and J.W. Burdick · 1998
Earlier work this paper cites.
Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity
A. Bicchi · 2000
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Robotic grasping and contact: A review
A. Bicchi and V. Kumar · 2000
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Algorithms for sensorless manipulation using a vibrating surface
K. Bohringer, K. Goldberg, V. Bhatt, and B. Donald · 2000
Earlier work this paper cites.
An overview of dexterous manipulation
A.M. Okamura, N. Smaby, and M.R. Cutkosky · 2000
Earlier work this paper cites.
Computing immobilizing grasps of polygonal parts
A.F. van der Stappen, C. Wentink, and M.H. Overmars · 2000
Earlier work this paper cites.
Robotic grasping and manipulation
A. Bicchi and V. Kumar · 2001
Cited alongside, same era.
Mechanics of robotics manipulation
M.T. Mason · 2001
Cited alongside, same era.
Automatic grasp planning using shape primitives
A.T. Miller, S. Knoop, H.I. Christensen, and P.K. Allen · 2003
Cited alongside, same era.
3d zernike descriptors for content based shape retrieval
M. Novotni and R. Klein · 2003
Cited alongside, same era.
Synthesis of force-clousure graspos on 3-D objects based on Q distance
X. Zhu and J. Wang · 2003
Cited alongside, same era.
Graspit! a versatile simulator for robotic grasping
A.T. Miller and P.K. Allen · 2004
Cited alongside, same era.
An SVM learning approach to robotic grasping
The Columbia grasp database
C. Goldfeder, M. Ciocarlie, H. Dang, and P.K. Allen · 2009
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Robotics – Modelling, Planning and Control
B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo · 2009
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Efficient visual search of videos cast as text retrieval
J. Sivic and A. Zisserman · 2009
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Efficient grasping of novel objects through dimensionality reduction
B. Balaguer and S. Carpin · 2010
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Learning grasping points with shape context
J. Bohg and D. Kragic · 2010
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Contact sensing and grasping performance of compliant hands
A.M. Dollar, L.P. Jentoft, J.H. Gao, and R.D. Howe · 2010
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R. Pelossof, A. Miller, P. Allen, and T. Jebara · 2004
Cited alongside, same era.
Principles of robot motion
H. Choset, K.M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L.E. Kavraki, and S. Thrun · 2005
Cited alongside, same era.
Introduction to robotics – Mechanics and control
J. J. Craig · 2005
Cited alongside, same era.
Grasp planning: how to choose a suitable task wrench space
C. Borst, M. Fischer, and G. Hirzinger · 2006
Cited alongside, same era.
Planning algorithms
S.M. LaValle · 2006
Cited alongside, same era.
A method for grasp evaluation based on disturbance force rejection
M. Strandberg and B. Wahlberg · 2006
Cited alongside, same era.
A proposal for benchmark tests for underactuated or compliant hands
G.A. Kragten, C. Meijneke, and J.L. Herder · 2010
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Null-space grasp control: Theory and experiments
R. Platt, A.H. Fagg, and R.A. Grupen · 2010
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A learning method to determine how to approach an unknown object to be grasped
B. Balaguer and S. Carpin · 2011
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Blind grasping: stable robotic grasping using tactile feedback and hand kinematics
H. Dang, J. Weisz, and P.K. Allen · 2011
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Detection of parametrized 3-d primitives from stereo for robotic grasping
L.F. Gallardo and V. Kyrki · 2011
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Data-driven grasping
C. Goldfeder and P.K. Allen · 2011
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On dexterity and dexterous manipulation
R. R. Ma and A.M. Dollar · 2011
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Design and performance assessment of an underactuated hand for industrial applications
C. Meijneke, G. A. Kragten, and M. Wisse · 2011
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Human-inspired robotic grasp control with tactile sensing
J.M. Romano, K. Hsiao, G. Niemeyer, S. Chitta, and K.J. Kuchenbecker · 2011
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Learning grasp stability
H. Dang and P.K. Allen · 2012
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Enabling grasping of unknown objects through a synergistic use of edge and surface information
G. Koostra, M. Popovic, J.A. Jorgensen, K. Kulinksi, K. Miatliuk, D. Kragic, and N. Kruger · 2012
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Dual arm manipulation – a survey
C. Smith, Y. Karayiannidis, L. Nalpantidis, X. Gratal, P. Qi, D.V. Dimarogonas, and D. Kragic · 2012
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Experiments in underactuated in-hand manipulation
L.U. Odhner, R.R. Ma, and A.M. Dollar · 2013
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Fostering progress in performance evaluation and benchmarking of robotic and automation systems
F. Bonsignorio, E. Messina, and A. del Pobil · 2014
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A compliant, underactuated hand for robust manipulation
L.U. Odhner et al · 2014
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Grasping the performance: Facilitating replicable performance measures via benchmarking and standardized methodologies
J. Falco, K. Van Wyk, Shuo Liu, and S. Carpin · 2015
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Cloud-based grasp analysis and planning for toleranced parts using parallelized monte carlo sampling
B. Kehoe, D. Warrier, S. Patil, and K. Goldberg · 2015
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A fast algorithm for grasp quality evaluation using the object wrench space
S. Liu and S. Carpin · 2015
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Fast grasp quality evaluation with partial convex hull computation
S. Liu and S. Carpin · 2015
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Grasp quality measures: review and performance
M. A. Roa and R. Suárez · 2015
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