Previous Hand Designs

Clockwise from top left: underactuated gripper (Columbia Univ. Robotics Lab), Velo Gripper (Willow Garage, Inc.),  virtual human hand model.

Journal publications:

  • M. Ciocarlie, F. Hicks, R. Holmberg, J. Hawke, M. Schlicht, J. Gee, S. Stanford and R. Bahadur. “The Velo Gripper: A Versatile Single-actuator Design for Enveloping, Parallel and Fingertip Grasps”, International Journal of Robotics Research, 33(5), 2014 (work performed at Willow Garage, Inc.) [link]
  • M. Ciocarlie and P. Allen. “A Constrained Optimization Framework for Compliant Underactuated Grasping”, Mechanical Sciences, 2, 17-26, 2011 [free link]
  • M. Ciocarlie and P. Allen. “Hand Posture Subspaces for Dexterous Robotic Grasping”, International Journal of Robotics Research, 28(7), 2009 (IJRR Top Ten Impact Factor in 2011) [link]

Conference publications:

  • M. Ciocarlie, F. Hicks and S. Stanford. "Kinetic and Dimensional Optimization for a Tendon-driven Gripper", IEEE Intl. Conference on Robotics and Automation, Karlsruhe, May 2013 (work performed at Willow Garage, Inc.) [pdf]
  • M. Ciocarlie and P. Allen. “Data-driven Optimization for Underactuated Robotic Hands”, IEEE Intl. Conference on Robotics and Automation, Anchorage, May 2010 [pdf]
  • M. Ciocarlie and P. Allen. “A Design and Analysis Tool for Underactuated Compliant Hands”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, St. Louis, October 2009 [pdf]
  • C. Goldfeder, M. Ciocarlie, J. Peretzman, H. Dang and P. Allen. “Data-Driven Grasping with Partial Sensor Data”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, St. Louis, October 2009 [link]
  • C. Goldfeder, M. Ciocarlie, H. Dang and P. Allen. “The Columbia Grasp Database”, IEEE Intl. Conference on Robotics and Automation, Kobe, May 2009 [link]
  • M. Ciocarlie, C. Lackner and P. Allen. “Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks”, 2nd Joint EuroHaptics Conference and IEEE Symposium on Haptic Interfaces, Tsukuba, March 2007 (Best Student Paper Award) [pdf]
  • M. Ciocarlie, A. Miller and P. Allen. “Grasp Analysis Using Deformable Fingers”, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Edmonton, August 2005 [pdf]
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