![](bga.png)
and Automation, 1998. Proceedings. 1998 IEEE Inter-
national Conference on, volume 2, page 1453–1458.
IEEE.
Ceccarelli, M., Cuadrado, J., and Dopico, D. (2002). An
optimum synthesis for gripping mechanisms by using
natural coordinates. Proceedings of the Institution of
Mechanical Engineers, Part C: Journal of Mechanical
Engineering Science, 216(6):643–653.
Cuadrado, J., Naya, M. A., Ceccarelli, M., and Carbone, G.
(2002a). An optimum design procedure for two-finger
grippers: a case of study. IFToMM Electronic Journal
of Computational Kinematics, 15403(1):2002.
Cuadrado, J., Naya, M. A., Ceccarelli, M., and Carbone, G.
(2002b). An optimum design procedure for two-finger
grippers: a case of study. IFToMM Electronic Journal
of Computational Kinematics, 15403(1):2002.
Ellekilde, L.-P. and Jørgensen, J. A. (2010). Robwork: A
flexible toolbox for robotics research and education.
Robotics (ISR), 2010 41st International Symposium
on and 2010 6th German Conference on Robotics
(ROBOTIK), pages 1 –7.
Ellekilde, L. P. and Petersen, H. G. (2006). Design and test
of object aligning grippers for industrial applications.
In 2006 IEEE/RSJ International Conference on Intel-
ligent Robots and Systems, pages 5165–5170.
Ferrari, C. and Canny, J. (1992). Planning optimal grasps.
pages 2290–2295.
Honarpardaz, M., Tarkian, M.,
¨
Olvander, J., and Feng, X.
(2017). Finger design automation for industrial robot
grippers: A review. Robotics and Autonomous Sys-
tems, 87:104 – 119.
Jørgensen, J. A., Ellekilde, L.-P., and Petersen, H. G.
(2010). RobWorkSim - an Open Simulator for Sensor
based Grasping - Conference papers - VDE Publish-
ing House. In ISR/ROBOTIK 2010 - ISR 2010 (41st
International Symposium on Robotics) and ROBOTIK
2010 (6th German Conference on Robotics). VDE-
Verlag.
Jørgensen, J. A. and Petersen, H. G. (2010). Grasp Syn-
thesis for Dextrous Hands Optimised for Tactile Ma-
nipulation. In Proceedings for the joint conference of
ISR 2010 (41st Internationel Symposium on Robotics)
und ROBOTIK 2010 (6th German Conference on
Robotics). VDE-Verlag.
Kintel, M. (2009). Openscad.
Kolluru, R., Valavanis, K., Smith, S., and Tsourveloudis,
N. (2000). Design fundamentals of a reconfigurable
robotic gripper system. Systems, Man and Cybernet-
ics, Part A: Systems and Humans, IEEE Transactions
on, 30(2):181–187.
Kraft, D., Ellekilde, L.-P., and Rytz, J. A. (2012). Au-
tomized grasp generation and improvement for indus-
trial bin-picking. Robotics and Computer Integrated
Manufacturing. (to be submitted).
Krenich, S. (2014). Optimal design of robot gripper mecha-
nism using force and displacement transmission ratio.
Applied Mechanics and Materials, 613:117–125.
Lanni, C. and Ceccarelli, M. (2009). An optimization prob-
lem algorithm for kinematic design of mechanisms for
two-finger grippers. Open Mechanical Engineering
Journal, 3:49–62.
Li, Y., Fu, J., and Pollard, N. (2007). Data driven grasp
synthesis using shape matching and task-based prun-
ing. IEEE Transactions on Visualization and Com-
puter Graphics, 13.
Nelder, J. A. and Mead, R. (1965). A simplex method
for function minimization. The Computer Journal,
7(4):308–313.
Schunk (2015). Schunk egrip.
Schuster, A., Becker, R., and Poguntke, M. (2014). Method
for the production of customer-specific components.
UWO2014060605 A1.
Smith, R. (2008). Open dynamics engine.
http://www.ode.org/.
Stulp, F., Theodorou, E., Buchli, J., and Schaal, S. (2011).
Learning to grasp under uncertainty. In IEEE In-
ternational Conference on Robotics and Automation
(ICRA), pages 5703–5708.
Thulesen, T. N. and Petersen, H. G. (2016). RobWork-
PhysicsEngine: A new dynamic simulation engine for
manipulation actions. In 2016 IEEE International
Conference on Robotics and Automation (ICRA).
Velasco, V. B. and Newman, W. S. (1998). Computer-
assisted gripper and fixture customization using rapid-
prototyping technology. In Proceedings. 1998 IEEE
International Conference on Robotics and Automation
(Cat. No.98CH36146), volume 4, pages 3658–3664
vol.4.
Wolniakowski, A., Jorgensen, J. A., Miatliuk, K.,
Gosiewski, Z., Petersen, H. G., and Kr
¨
uger, N. (2017).
Task and context sensitive gripper design learning us-
ing dynamic grasp simulation. Journal of Intelligent
and Robotic Systems. (in print).
Wolniakowski, A., Jorgensen, J. A., Miatliuk, K., Petersen,
H. G., and Kr
¨
uger, N. (2015). Task and context sen-
sitive optimization of gripper design using dynamic
grasp simulation. In Methods and Models in Automa-
tion and Robotics (MMAR), 2015 20th International
Conference on, pages 29–34.
Wolniakowski, A., Kramberger, A., Gams, A., Chrysosto-
mou, D., Hagelskjaer, F., Thulesen, T. N., Kiforenko,
L., Buch, A. G., Bodenhagen, L., Petersen, H. G.,
Madsen, O., Ude, A., and Kr
¨
uger, N. (2016). Opti-
mizing grippers for compensating pose uncertainties
by dynamic simulation. In IEEE/RSJ Int. Conf. on In-
telligent Robots and Systems (IROS). submitted.
Wolniakowski, A., Miatliuk, K., Kr
¨
uger, N., and Rytz, J. A.
(2014). Automatic evaluation of task-focused paral-
lel jaw gripper design. In International Conference
on Simulation, Modeling, and Programming for Au-
tonomous Robots.
Zhang, M. T. and Goldberg, K. (2006). Designing robot
grippers: optimal edge contacts for part alignment.
Robotica, 25(03):341.
Designing Fingers in Simulation based on Imprints
313