Underactuated Grasping is a grasping strategy in multi-fingered robotic manipulation that belongs to the class of underactuated systems, distinguished by its use of fewer control inputs than degrees of freedom to enable passive, adaptive conformity of the hand to object geometry through mechanical compliance rather than active sensing and control.
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4.7K
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289
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96
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Publications per year
2017–2026
31
Publications
112
Underactuation in robotic grasping hands
Lionel Birglen, Clément Gosselin · 2002 · 265 citations
Engineering, Mechatronics Engineering, Robotics Engineering +17
1–5 of 112
Authors
289
- AM
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1–5 of 289
Institutions
96
Yale University
New Haven, United States
10 h-index
26 publications
2.9K citations
Delft University of Technology
Delft, The Netherlands
9 h-index
28 publications
615 citations
Université Laval
Québec, Canada
7 h-index
15 publications
1.3K citations
Harbin Institute of Technology
Harbin, China
7 h-index
31 publications
831 citations
Polytechnique Montréal
Montreal, Canada
7 h-index
7 publications
266 citations
Università degli studi di Cassino e del Lazio Meridionale
Cassino, Italy
5 h-index
9 publications
260 citations
Tsinghua University
Beijing, China
5 h-index
17 publications
420 citations
Columbia University
New York, United States
4 h-index
8 publications
252 citations
1–8 of 96
Venues
- Mechanical sciences
9 publications · 221 citations
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- Journal of Mechanisms and Robotics
5 publications · 102 citations
5
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- Mechanism and Machine Theory
4 publications · 199 citations
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- The International Journal of Robotics Research
IJRR · 4 publications · 753 citations
4
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- IEEE Robotics and Automation Letters
4 publications · 191 citations
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