Dexterous Manipulation: A Geometric Approach

A Survey Paper
  • Bhubaneswar Mishra
Conference paper


These notes present in a self-contained manner the basic facts about the theory of dexterous manipulation. In particular, we discuss the models of robot hands and analysis and synthesis of multifingered grasps for objects of arbitrary geometry. The techniques exploit an interesting connection between the problems of dexterous manipulation and some classical results in combinatorial geometry.


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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Bhubaneswar Mishra
    • 1
  1. 1.Courant Institute of Mathematical SciencesNew York UniversityNew YorkUSA

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