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Multi-Fingered Robotic Grasping: A Primer

Published

Author(s)

Stefano Carpin, Shuo Liu, Joseph A. Falco, Karl Van Wyk

Abstract

Grasping and manipulation has generated significant interest in the robotics community, and robotic grasping emerged as an autonomous area of research since the development of the first robotic hands. Notwithstanding, robotic grasping continues to be one of the most challenging areas in robotics. This primer focuses on multi-fingered hands and methods and algorithms that can be applied in the real world, as opposed to abstract formulations that are difficult to use in practical application. The topic is presented with an emphasis on metrics and test methods for benchmarking performance.
Citation
Cornell University Library

Keywords

Robotic Grasping, Manipulation, Performance Measures
Created July 22, 2016, Updated February 19, 2017