Autonomous Manipulation with a General-Purpose Simple Hand

Matthew T. Mason, Alberto Rodriguez, Siddhartha Srinivasa and Andres S. Vazquez
Journal Article, Carnegie Mellon University, The International Journal of Robotics Research (IJRR), Vol. 31, No. 5, pp. 688-703, April, 2012

View Publication

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.


While complex hands seem to offer generality, simple hands are often more practical. This raises the question: how do generality and simplicity trade off in the design of robot hands? This paper explores the tension between simplicity in hand design and generality in hand function. It raises arguments both for and against simple hands, it considers several familiar examples, and it proposes an approach for autonomous manipulation using a general-purpose but simple hand. We explore the approach in the context of a bin-picking task, focused on grasping, recognition, and localization. The central idea is to use learned knowledge of stable grasp poses as a cue for object recognition and localization. This leads to some novel design criteria, such as minimizing the number of stable grasp poses. Finally, we describe experiments with two prototype hands to perform bin-picking of highlighter markers.

author = {Matthew T. Mason and Alberto Rodriguez and Siddhartha Srinivasa and Andres S. Vazquez},
title = {Autonomous Manipulation with a General-Purpose Simple Hand},
journal = {The International Journal of Robotics Research (IJRR)},
year = {2012},
month = {April},
volume = {31},
number = {5},
pages = {688-703},
} 2017-09-13T10:39:57-04:00