Below is a list of all relevant publications authored by Robotics Forum members.


BibTex format

author = {Rojas, N and Ma, RR and Dollar, AM},
doi = {10.1109/TRO.2016.2562122},
journal = {IEEE Transactions on Robotics},
pages = {763--770},
title = {The GR2 gripper: an underactuated hand for open-loop in-hand planar manipulation},
url = {},
volume = {32},
year = {2016}

RIS format (EndNote, RefMan)

AB - Performing dexterous manipulation of unknown objects with robot grippers without using high-fidelity contact sensors, active/sliding surfaces, or a priori workspace exploration is still an open problem in robot manipulation and a necessity for many robotics applications. In this paper we present a two-fingered gripper topology that enables an enhanced predefined in-hand manipulation primitive controlled without knowing the size, shape, or other particulars of the grasped object. The in-hand manipulation behavior, namely, the planar manipulation of the grasped body, is predefined thanks to a simple hybrid low-level control scheme and has an increased range of motion due to the introduction of an elastic pivot joint between the two fingers. Experimental results with a prototype clearly show the advantages and benefits of the proposed concept. Given the generality of the topology and in-hand manipulation principle, researchers and designers working on multiple areas of robotics can benefit from the findings.
AU - Rojas,N
AU - Ma,RR
AU - Dollar,AM
DO - 10.1109/TRO.2016.2562122
EP - 770
PY - 2016///
SN - 1552-3098
SP - 763
TI - The GR2 gripper: an underactuated hand for open-loop in-hand planar manipulation
T2 - IEEE Transactions on Robotics
UR -
UR -
UR -
VL - 32
ER -