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Since the birth of the first industrial robot in the early 1960s,
robotics has often replaced humans for tedious and repetitive tasks
in the industrial world. To meet these challenges, industrial
robots have needed to become specialized. They have been designed
according to the task that needs to be performed. In the early
1980s, the ambition to equip robots with robotic hands with
universal capabilities led to the development of robotic grasping
research. The emergence of more agile industry and also
collaborative robotics requires the development of new generation
grippers: more versatile, with not only adaptive grasping
capabilities but also dexterous manipulation capabilities. The
development of flexible multi-fingered grippers with both adaptive
grasping and in-hand manipulation capabilities remains a complex
issue for human-like dexterous manipulation. After four decades of
research in dexterous manipulation, many robotic hands have been
developed. The development of these hands however remains a key
challenge, as the dexterity of robot hands is far from human
capabilities. The aim of this monograph is, through the evolution
of robotics from industrial and manufacturing robotics to service
and collaborative robotics, to show the evolution of the grasping
function. From industrial grippers to dexterous robot hands, and
the stakes inherent today to new robotic applications in open,
dynamic environments where humans are likely to evolve.
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