In this paper, we survey the work in robotic grasping related areas that has been done over the last two decades, with a bias toward the development of the theoretical framework and analytical results in this area. In addition we assess the state of the art in this area and outline some of the important open problems.
|
127
|
On the existence and synthesis of multifinger positive grips
– Mishra, Schwartz, et al.
- 1987
|
|
118
|
Robot Hands and the Mechanics of Manipulation
– Mason, Salisbury
- 1985
|
|
107
|
The kinematics of contact and grasp
– Montana
- 1988
|
|
98
|
An exploration of nonprehensile two-palm manipulation: Planning and execution
– Erdmann
- 1996
|
|
95
|
Planning optimal grasps
– Ferrari, Canny
- 1992
|
|
95
|
Kinematics and Force Analysis of Articulated Hands
– Salisbury
- 1982
|
|
94
|
The synthesis of force-closure grasps
– Nguyen
- 1986
|
|
93
|
The geometry of grasping
– Markenscoff, Ni, et al.
- 1990
|
|
82
|
Contact mechanics
– Johnson
- 1985
|
|
79
|
Analysis of multi-fingered hands
– Kerr, Roth
- 1986
|
|
53
|
Optimum grip of a polygon
– Markenscoff, Papadimitriou
- 1989
|
|
53
|
On the stability and instantaneous velocity of grasped frictionless objects
– Trinkle
- 1992
|
|
49
|
On the spatial motion of a rigid body with point contact
– Cai, Roth
- 1987
|
|
42
|
Grasping and coordinated manipulation by a multifingered robot hand
– Li, Hsu, et al.
- 1989
|
|
41
|
Whole arm manipulation
– Salisbury
- 1987
|
|
39
|
On computing two-finger force-closure grasps of curved 2D objects
– Faverjon, Ponce
- 1991
|
|
37
|
Stable Prehension by a Robot Hand with Elastic Fingers
– Hanafusa, Asada
- 1977
|
|
35
|
On the Closure Properties of Robotic Grasping
– Bicchi
- 1995
|
|
35
|
Robotic Grasping and Fine Manipulation
– Cutkosky
- 1985
|
|
32
|
On computing four-finger equilibrium and force-closure grasps of polyhedral objects. The Int
– Ponce, Sullivan, et al.
- 1997
|
|
31
|
Computing and controlling the compliance of a robotic hand
– Cutkosky, Kao
- 1989
|
|
28
|
Dynamics and stability in coordination of multiple robotic mechanisms
– Nakamura, Nagai, et al.
- 1989
|
|
26
|
On the stability of grasped objects
– Howard, Kumar
- 1996
|
|
25
|
The Utah/MIT dextrous hand: work in progress
– Jacobsen, Wood, et al.
- 1984
|
|
25
|
An investigation of frictionless enveloping grasping in the plane
– Trinkle, Abel, et al.
- 1988
|
|
25
|
On the inconsistency of rigid-body frictional planar mechanics
– Mason, Wang
- 1988
|
|
24
|
On the mobility and manipulability of general multiple limb robots
– Bicchi, Melchiorri, et al.
- 1995
|
|
24
|
Some discussion of static gripping and its stability
– Mishra, Silver
- 1989
|
|
24
|
Estimating pose statistics for robotic part feeders
– Mirtich, Zhuang, et al.
- 1996
|
|
22
|
J.B.Moore, Dextrous Hand Grasping Force Optimization
– Buss, Hashimoto
|
|
21
|
Force Distribution in Closed Kinematic Chains
– Kumar, Waldron
- 1988
|
|
20
|
Grasp analysis as linear matrix inequality problems
– Han, Trinkle, et al.
|
|
20
|
Dynamic control of 3-d rolling contacts in two-arm manipulation
– Sarkar, Yun, et al.
- 1993
|
|
19
|
A fast and robust grasp planner for arbitrary 3d objects
– Borst, Fischer, et al.
- 1999
|
|
19
|
Kinematics and statics of manipulation using the theory of polyhedral convex cones
– Hirai, Asada
- 1993
|
|
18
|
Variational inequalities
– Lions, Stampacchia
- 1967
|
|
16
|
Examples of 3d grasp quality computations
– Miller, Allen
- 1999
|
|
15
|
Kinematic models for model based compliant motion in the presence of uncertainty
– Bruyninckx, Demey, et al.
- 1995
|
|
15
|
Contact stability for two-fingered grasps
– Montana
- 1992
|
|
15
|
Dynamic analysis of mobility and graspability of general manipulation systems
– Prattichizzo, Bicchi
- 1998
|
|
15
|
A contact stress model for multifingered grasps of rough objects
– Sinha, Abel
- 1992
|
|
14
|
Grasp synthesis of polygonal objects using a three-fingered robot hand
– Park, Starr
- 1992
|
|
14
|
Simulation of Dynamics of Interacting Rigid Bodies Including Friction
– Goyal, S, et al.
- 1994
|
|
13
|
Modeling of Frictional Contacts for Dynamic Simulation
– Kraus, Fredriksson, et al.
- 1997
|
|
12
|
A qualitative test for N-finger force-closure grasps on planar objects with applications to manipulation and finger gaits
– Chen, Burdick
- 1993
|
|
12
|
Mobility of bodies in contact-part I: a 2 nd -order mobility index for multiple-finger grasps
– Rimon, Burdick
- 1998
|
|
12
|
Mobility of bodies in contact—Part II: how forces are generated by curvature effects
– Rimon, Burdick
- 1998
|
|
12
|
Simulation of mechanical systems with unilateral constraints
– Wang, Kumar
- 1994
|
|
11
|
Three-Dimensional Elastic Bodies in Rolling Contact
– Kalker
- 1990
|
|
11
|
Control of Force Distribution for Power Grasp in the DIGITS System
– Mirza, Orin
- 1960
|
