Robotic grasping and contact: a review

Inequalities in Mechanics and Physics

1976 • 1,960 citations

Three-Dimensional Elastic Bodies in Rolling Contact

1990 • 1,067 citations

Analysis of Multifingered Hands

1986 • 894 citations

Planning optimal grasps

2003 • 889 citations

Robot Hands and the Mechanics of Manipulation

1989 • 887 citations

Three-Dimensional Elastic Bodies in Rolling Contact

1993 • 880 citations

Constructing Force- Closure Grasps

1988 • 870 citations

The UTAH/M.I.T. Dextrous Hand: Work in Progress

1984 • 591 citations

The Kinematics of Contact and Grasp

1988 • 532 citations

On the Closure Properties of Robotic Grasping

1995 • 526 citations

Kinematic and force analysis of articulated hands

1982 • 492 citations

On the existence and synthesis of multifinger positive grips

1987 • 418 citations

Computing and controlling compliance of a robotic hand

1989 • 371 citations

Grasping and Coordinated Manipulation by a Multifingered Robot Hand

1989 • 342 citations

Robotic Grasping and Fine Manipulation

1985 • 333 citations

Dynamics and Stability in Coordination of Multiple Robotic Mechanisms

1989 • 333 citations

Mechanical Systems of Rigid Bodies Subject to Unilateral Constraints

1982 • 301 citations

On computing three-finger force-closure grasps of polygonal objects

1995 • 300 citations

Dextrous hand grasping force optimization

1996 • 287 citations

On Computing Four-Finger Equilibrium and Force-Closure Grasps of Polyhedral Objects

1997 • 281 citations

Grasp analysis as linear matrix inequality problems

2003 • 248 citations

Control of Force Distribution in Robotic Mechanisms Containing Closed Kinematic Chains

1981 • 223 citations

Preliminary design of a whole-arm manipulation system (WAMS)

2003 • 222 citations

Force distribution in closed kinematic chains

2003 • 210 citations

On the stability of grasped objects

1996 • 207 citations

On the stability and instantaneous velocity of grasped frictionless objects

1992 • 194 citations

Analysis of Motion and Internal Loading of Objects Grasped by Multiple Cooperating Manipulators

1991 • 190 citations

Mobility of bodies in contact. I. A 2nd-order mobility index for multiple-finger grasps

1998 • 187 citations

MECHANICS OF FORM CLOSURE.

1978 • 186 citations

Optimum Grip of a Polygon

1989 • 170 citations

Friction, Stability and the Design of Robotic Fingers

1986 • 168 citations

Force distribution in closed kinematic chains

1988 • 162 citations

Robot hands and the mechanics of manipulation

1988 • 155 citations

Contact stability for two-fingered grasps

1992 • 147 citations

The nature of human prehension: Three dextrous hands in one

2005 • 138 citations

Normal contact of elastic solids – Hertz theory

1985 • 127 citations

Dynamic control of 3-D rolling contacts in two-arm manipulation

1997 • 125 citations

Control of rolling contacts in multi-arm manipulation

1994 • 118 citations

On the problem of decomposing grasp and manipulation forces in multiple whole-limb manipulation

1994 • 112 citations

Whole-Arm Manipulation

1987 • 107 citations

An Investigation of Frictionless Enveloping Grasping in the Plane

1988 • 99 citations

Kinematic manipulability of general constrained rigid multibody systems

1999 • 89 citations

On the inconsistency of rigid-body frictional planar mechanics

2003 • 89 citations

A contact stress model for multifingered grasps of rough objects

1992 • 85 citations

An Exploration of Nonprehensile Two-Palm Manipulation

1998 • 84 citations

Whole arm manipulation

1988 • 83 citations

Dynamic analysis of mobility and graspability of general manipulation systems

1998 • 79 citations

Simulation of dynamics of interacting rigid bodies including friction I: General problem and contact model

1994 • 73 citations

Dynamics of rigid bodies undergoing multiple frictional contacts

2003 • 60 citations

Passive and active closures by constraining mechanisms

2002 • 58 citations

A singular perturbation approach to modeling and control of manipulators constrained by a stiff environment

2003 • 55 citations

Control of force distribution for power grasp in the DIGITS system

1990 • 55 citations

Generalized stability of compliant grasps

2002 • 53 citations

Intelligent Exploration by the Human Hand

1990 • 52 citations

Estimating pose statistics for robotic part feeders

2002 • 51 citations

Special Configurations of Multi-finger Multi- freedom Grippers — A Kinematic Study

1991 • 49 citations

Computing parallel-jaw grips

2003 • 42 citations

Dynamic manipulation/grasping control of multifingered robot hands

2002 • 40 citations

Simulation of Mechanical Systems With Multiple Frictional Contacts

1994 • 37 citations

Studies on Prehension and Handling by Robot Hands with Elastic Fingers

1979 • 36 citations

Second-order stability cells of a frictionless rigid body grasped by rigid fingers

2002 • 33 citations

Grasping With Mechanical Intelligence

1989 • 30 citations

Reuleaux Pairs and Surfaces That Cannot Be Gripped

1989 • 21 citations

Experimental Robotics II

1993 • 20 citations

Kinematic manipulability of general constrained rigid multibody systems

2002 • 18 citations

Stable Workpiece Fixturing

1994 • 18 citations

Analytical conditions for the rotational stability of an object in multi-finger grasping

2003 • 15 citations

Dexterous robot manipulation

1994 • 13 citations

A task-dependent approach to minimum-deflection fixtures

2003 • 7 citations