# Human Initiated Grasp Space Exploration Algorithm for an Underactuated Robot Gripper Using Variational Autoencoder

arXiv: https://arxiv.org/abs/2109.09572 · HTML: https://mlsanity.com/paper/2109.09572/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Sep 2021.

## Built on by (most cited first, 1 of 1)

- [Connectivity-Aware Exploration of Robotic Grasp Spaces](https://mlsanity.com/paper/2609.22983/) (2026)

## Abstract (arXiv)

Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents an efficient procedure for exploring the grasp space of a multifingered adaptive gripper for generating reliable grasps given a known object pose. This procedure relies on a limited dataset of manually specified expert grasps, and use a mixed analytic and data-driven approach based on the use of a grasp quality metric and variational autoencoders. The performances of this method are assessed by generating grasps in simulation for three different objects. On this grasp planning task, this method reaches a grasp success rate of 99.91% on 7000 trials.