Imperial College London

Professor Yiannis Demiris

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN



+44 (0)20 7594 6300y.demiris Website




1011Electrical EngineeringSouth Kensington Campus






BibTex format

author = {Su, Y and Wu, Y and Lee, K and Du, Z and Demiris, Y},
doi = {10.1109/HUMANOIDS.2012.6651599},
pages = {719--725},
publisher = {IEEE},
title = {Robust Grasping for an Under-actuated Anthropomorphic Handunder Object Position Uncertainty},
url = {},
year = {2012}

RIS format (EndNote, RefMan)

AB - This paper presents a grasp execution strategy for grasping an object with one trial when there is uncertainty in the object position. This strategy is based on three grasping components: 1) robust grasp trajectory planning which can cope with reasonable amount of initial object position error, 2) sensor-based grasp adaptation, and 3) compliant characteristics of the under actuated mechanism. This strategy is implemented and tested on the iCub humanoid robot. Two experiments and a demo of the iCub robot playing the Towers of Hanoi game are carried out to verify our system. The results demonstrate that the iCub using this approach can successfully grasp objects under certain position error with its under-actuated anthropomorphic hand.
AU - Su,Y
AU - Wu,Y
AU - Lee,K
AU - Du,Z
AU - Demiris,Y
DO - 10.1109/HUMANOIDS.2012.6651599
EP - 725
PY - 2012///
SP - 719
TI - Robust Grasping for an Under-actuated Anthropomorphic Handunder Object Position Uncertainty
UR -
UR -
ER -