Advanced grasping with the Pisa/IIT softHand

Manuel Bonilla, Cosimo Della Santina, Alessio Rocchi, Emanuele Luberto, Gaspare Santaera, Edoardo Farnioli, Cristina Piazza, Fabio Bonomo, Alberto Brando, Alessandro Raugi, Manuel G. Catalano, Matteo Bianchi, Manolo Garabini, Giorgio Grioli, Antonio Bicchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations


This chapter presents the hardware, software and overall strategy used by the team UNIPI-IIT-QB to participate to the Robotic Grasping and Manipulation Competition. It relies on the PISA/IIT SoftHand, which is underactuated soft robotic hand that can adapt to the grasped object shape and is compliant with the environment. It was used for the hand-in-hand and for the simulation tracks, where the team reached first and third places respectively.

Original languageEnglish
Title of host publicationRobotic Grasping and Manipulation - First Robotic Grasping and Manipulation Challenge, RGMC 2016, Held in Conjunction with IROS 2016, Revised Papers
EditorsJoe Falco, Yu Sun
PublisherSpringer Verlag
Number of pages20
ISBN (Print)9783319945675
StatePublished - 2018
Externally publishedYes
Event1st International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: 10 Oct 201612 Oct 2016

Publication series

NameCommunications in Computer and Information Science
ISSN (Print)1865-0929


Conference1st International Conference on Intelligent Robots and Systems, IROS 2016
Country/TerritoryKorea, Republic of


  • Grasp planning
  • Grasp simulation
  • Grasping


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