A two-fingered robot gripper with large object reorientation range. - Walter G. Bircher; Aaron M. Dollar; Nicolas Rojas 002 (ICRA, 2017)

Toward robust, whole-hand caging manipulation with underactuated hands. - Raymond R. Ma; Walter G. Bircher; Aaron M. Dollar (ICRA, 2017)

Design Principles and Optimization of a Planar Underactuated Hand for Caging Grasps. - Walter G. Bircher; Aaron M. Dollar (ICRA, 2019)

Energy Gradient-Based Graphs for Planning Within-Hand Caging Manipulation. - Walter G. Bircher; Andrew S. Morgan; Kaiyu Hang; Aaron M. Dollar (ICRA, 2019)

Learning from Transferable Mechanics Models: Generalizable Online Mode Detection in Underactuated Dexterous Manipulation. - Andrew S. Morgan; Walter G. Bircher; Berk Çalli; Aaron M. Dollar (ICRA, 2019)

A Data-Driven Framework for Learning Dexterous Manipulation of Unknown Objects. - Andrew S. Morgan; Kaiyu Hang; Walter G. Bircher; Aaron M. Dollar (IROS, 2019)

Modeling and Evaluation of Robust Whole-Hand Caging Manipulation. - Raymond R. Ma; Walter G. Bircher; Aaron M. Dollar (IEEE Trans. Robotics, 2019)

Hand-object configuration estimation using particle filters for dexterous in-hand manipulation. - Kaiyu Hang; Walter G. Bircher; Andrew S. Morgan; Aaron M. Dollar (Int. J. Robotics Res., 2020)

Benchmarking Cluttered Robot Pick-and-Place Manipulation With the Box and Blocks Test. - Andrew S. Morgan; Kaiyu Hang; Walter G. Bircher; Fadi M. Alladkani; Abhinav Gandhi; Berk Çalli; Aaron M. Dollar (IEEE Robotics Autom. Lett., 2020)

Complex manipulation with a simple robotic hand through contact breaking and caging. - Walter G. Bircher; Andrew S. Morgan; Aaron M. Dollar (Sci. Robotics, 2021)

Manipulation for self-Identification, and self-Identification for better manipulation. - Kaiyu Hang; Walter G. Bircher; Andrew S. Morgan; Aaron M. Dollar (Sci. Robotics, 2021)

Towards Generalized Manipulation Learning Through Grasp Mechanics-Based Features and Self-Supervision. - Andrew S. Morgan; Walter G. Bircher; Aaron M. Dollar (IEEE Trans. Robotics, 2021)

Robust whole-hand spatial manipulation via energy maps with caging, rolling, and sliding. - Walter G. Bircher; Andrew S. Morgan; Aaron M. Dollar (Frontiers Robotics AI, 2023)