{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T08:09:50Z","timestamp":1770278990924,"version":"3.49.0"},"reference-count":12,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2005,2,1]],"date-time":"2005-02-01T00:00:00Z","timestamp":1107216000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2005,2,1]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The capability to perform dexterous operations in an autonomous manner would greatly enhance the productivity of robotic operations. In this paper, we present a new methodology for vision\u2010based grasping of objects or parts using a three\u2010finger hand as a gripper of a robotic manipulator.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The hand employed in our work, called SARAH, was designed for robotic operations on the space station, however, the main steps of our procedure can be applied for tasks in a manufacturing environment. Our methodology involves two principal stages: automatic synthesis of grasps for planar and revolute objects with SARAH and vision\u2010based pose estimation of the object to be grasped. For both stages, we assume that a model of the object is available off\u2010line.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>In the paper, numerical results are presented for grasp synthesis of several objects with SARAH to demonstrate the feasibility and optimality of the synthesized grasps. Experimental results are also obtained with SARAH as the end\u2010effector of a seven\u2010degree\u2010of\u2010freedom robotic arm, demonstrating the feasibility of the integrated vision\u2010based grasping.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>The methodology described in the paper, although represents a substantial step towards automated grasping with a robotic manipulator, still requires some decision making from the user. Further work can improve the pose identification aspects of the algorithm to make them more robust and free of human intervention. As well, the grasp synthesis procedure can be expanded to handle more complex and possibly moving objects, as well as to allow for different grasp types than those considered here.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The work demonstrates feasibility of autonomous grasp execution in industrial setting by using a three\u2010finger hand as a robotic gripper.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The results presented in the paper demonstrate the feasibility of synthesising optimised grasps which take into account the kinematics of the gripper. We also demonstrate a real implementation of vision\u2010based grasping by using a robotic manipulator with a three\u2010finger hand.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910510573273","type":"journal-article","created":{"date-parts":[[2005,2,9]],"date-time":"2005-02-09T11:07:23Z","timestamp":1107947243000},"page":"35-42","source":"Crossref","is-referenced-by-count":6,"title":["Optimum grasp planner and vision\u2010guided grasping using a three\u2010finger hand"],"prefix":"10.1108","volume":"32","author":[{"given":"E.","family":"Boivin","sequence":"first","affiliation":[]},{"given":"I.","family":"Sharf","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022031819482110000_b2","unstructured":"Boivin, E. (2004), \u201cVision\u2010guided automatic grasp planning using SARAH\u201d, Master thesis, McGill University, Montreal."},{"key":"key2022031819482110000_b1","doi-asserted-by":"crossref","unstructured":"Boivin, E., Sharf, I. and Doyon, M. (2004), \u201cOptimum grasp of planar and revolute objects with gripper geometry constraints\u201d, Vol. 1, pp. 326\u201032, paper presented at the IEEE International Conference on Robotics and Automation.","DOI":"10.1109\/ROBOT.2004.1307171"},{"key":"key2022031819482110000_b3","doi-asserted-by":"crossref","unstructured":"Gatrell, L\u2010B. (1989), \u201cCAD\u2010based grasp synthesis utilizing polygons\u201d, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 184\u20109.","DOI":"10.1109\/ROBOT.1989.99987"},{"key":"key2022031819482110000_b4","doi-asserted-by":"crossref","unstructured":"Hoffman, R. and Keshavan, H.R. (1989), \u201cEvidence\u2010based object recognition and pose estimation\u201d, IEEE Systems, Man and Cybernetics, Vol. 1, pp. 173\u20108.","DOI":"10.1109\/ICSMC.1989.71274"},{"key":"key2022031819482110000_b5","unstructured":"Lalibert\u00e9, T. and Gosselin, C.M. (2001), \u201cUnderactuation in space robotic hands\u201d, Proceedings of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space."},{"key":"key2022031819482110000_b6","doi-asserted-by":"crossref","unstructured":"Morales, A., Sanz, P.J., del Pobil, A.P. and Fagg, A.H. (2002), \u201cAn experiment in constraining vision\u2010based finger contact selection with gripper geometry\u201d, paper presented at the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 1693\u20108.","DOI":"10.1109\/IRDS.2002.1043999"},{"key":"key2022031819482110000_b7","doi-asserted-by":"crossref","unstructured":"Nguyen, V.D. (1988), \u201cConstructing force\u2010closure grasps\u201d, Int. J. Robotic Research, Vol. 7 No. 3, pp. 3\u201016.","DOI":"10.1177\/027836498800700301"},{"key":"key2022031819482110000_b8","doi-asserted-by":"crossref","unstructured":"Ponce, J. and Faverjon, B. 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