Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity

By Antonio Bicchi. 2000

959 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

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In Biomedical Engineering

In Control and Systems Engineering

Citations in the corpus

Solving Rubik's Cube with a Robot Hand (2019, background): “Dexterous manipulation has been an active area of research for decades [32, 91, 9, 74, 64].”
Learning dexterous in-hand manipulation (2018, background): “Dexterous manipulation has been an active area of research for decades (Bicchi, 2000; Fearing, 1986; Ma and Dollar, 2011; Okamura et al., 2000; Rus, 1999).”
Learning Dexterous In-Hand Manipulation. (2018, background): “Dexterous manipulation has been an active area of research for decades [17, 52, 7, 42, 37].”
Tactile sensing in dexterous robot hands - Review (2015, background): “This need can be met by re-placing grippers with multi-ﬁ ngered dexterous robot hands that are able to grasp very di ﬀ erent objects and even manipulate them with the use of ﬁ ngers [1].”
Dual arm manipulation - A survey (2012, background): “There are three main type of contact models [151] [153]: • Frictionless Point Contact is used to model cases wherein very small contact areas arise allowing the slippage between the contacted parts.”
DexMV: Imitation Learning for Dexterous Manipulation from Human Videos (2021, background): “Manipulation with multifinger hands is one of the most challenging core robotics tasks, which has been actively studied with optimization and planning [63, 9, 46, 18, 2, 6].”
Extrinsic dexterity: In-hand manipulation with external forces (2014, background): “Given that it relies on resources intrinsic to the hand, we refer to it as “intrinsic dexterity”.”
On rolling contact motion by robotic fingers via prescribed performance control (2013, background): “In the last decades a variety of multi-fingered robotic hands resembling human hands have been designed and manufactured [1-3].”
Dexterous manipulation using both palm and fingers (2014, background): “In particular, Bicchi [12] made a distinction between anthropomorphic hands to mimic the human anatomy and “minimalistic” hands to meet practical requirements, and argued for the necessity of hand dexterity.”
Development of a high-speed multifingered hand system and its application to catching (2003, background): “In order to achieve a dexterous and skillful artificial hand, such as a human hand, various types of multifingered hands have been developed [1], [2].”