3 accepted papers
This paper presents an adaptive and compliant approach-to-grasp strategy for multi-finger robotic hands, to improve the performance of autonomous grasping when encountering object position uncertainties. With the proposed approach-to-grasp strategy, the first robot finger to experience unexpected im…
In this work, we deal with the problem of planning a manipulation task for a robotic system composed of at least one dexterous arm and a dexterous multi-fingered hand. The goal of the local planner is to include both, the arm and the hand, in the execution of the task in a coordinated way. This is a…
Traditional approaches in grasping consider separately the planning of contact points and forces. This often leads to optimally simulated grasps that fail in a real execution when the forces applied at the chosen contact points cannot resist expected perturbations like the own object weight. This pa…