Robotic Grasping and Manipulation

1. Front Matter

   Pages I-VIII

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2. Robotic Grasping and Manipulation Competition: Task Pool

   • Yu Sun, Joe Falco, Nadia Cheng, Hyouk Ryeol Choi, Erik D. Engeberg, Nancy Pollard et al.

   Pages 1-18

3. Advanced Grasping with the Pisa/IIT SoftHand

   • Manuel Bonilla, Cosimo Della Santina, Alessio Rocchi, Emanuele Luberto, Gaspare Santaera, Edoardo Farnioli et al.

   Pages 19-38

4. Design of Modular Humanoid Robotic Hand Driven by SMA Actuator

   • Yang Chen, Shaofei Guo, Hui Yang, Lina Hao

   Pages 39-56

5. The TU Hand: Using Compliant Connections to Modulate Grasping Behavior

   • Dipayan Das, Nathanael J. Rake, Joshua A. Schultz

   Pages 57-83

6. Design and Application of Dorabot-hand2 System

   • Zhikang Wang, Shuo Liu, Hao Zhang

   Pages 84-106

7. Manipulation Using the “Utah” Prosthetic Hand: The Role of Stiffness in Manipulation

   • Radhen Patel, Jacob Segil, Nikolaus Correll

   Pages 107-116

8. SKKU Hand Arm System: Hardware and Control Scheme

   • Dongmin Choi, Byung-jin Jung, Hyungpil Moon

   Pages 117-135

9. A Robotic System for Autonomous Grasping and Manipulation

   • Mingu Kwon, Dandan Zhou, Shuo Liu, Hao Zhang

   Pages 136-145

10. Improving Grasp Performance Using In-Hand Proximity and Contact Sensing

    • Radhen Patel, Rebeca Curtis, Branden Romero, Nikolaus Correll

    Pages 146-160

11. Robotic Grasping and Manipulation Competition @IROS2016: Team Tsinghua

    • Fuchun Sun, Huaping Liu, Bin Fang, Di Guo, Tao Kong, Chao Yang et al.

    Pages 161-171

12. Complete Robotic Systems for the IROS Grasping and Manipulation Challenge

    • Eadom Dessalene, Daniel Lofaro

    Pages 172-179

13. Robotic Grasping and Manipulation Competition: Competitor Feedback and Lessons Learned

    • Joe Falco, Yu Sun, Maximo Roa

    Pages 180-189

14. Robotic Grasping and Manipulation Competition: Future Tasks to Support the Development of Assembly Robotics

    • Karl Van Wyk, Joe Falco, Elena Messina

    Pages 190-200

15. Back Matter

    Pages 201-201

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This book constitutes the refereed proceedings of the First Robotic Grasping and Manipulation Challenge, RGMC 2016, held at IROS 2016, Daejeon, South Korea, in October 2016.The 13 revised full papers presented were carefully reviewed and are describing the rules, results, competitor systems and future directions of the inaugural competition. The competition was designed to allow researchers focused on the application of robot systems to compare the performance of hand designs as well as autonomous grasping and manipulation solutions across a common set of tasks. The competition was comprised of three tracks that included hand-in-hand grasping, fully autonomous grasping, and simulation.

• artificial intelligence
• benchmarking
• competition
• grasping
• heuristic methods
• intelligent robots
• manipulation
• manipulators
• motion control
• motion planning
• robotic arms
• robotics
• robots
• sensors
• service robots

• University of South Florida, Tampa, USA

  Yu Sun

• National Institute of Standards and Technology, Gaithersburg, USA

  Joe Falco

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