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This thesis focuses on closing the loop in robotic manipulation, moving towards robots that can better perceive their environment and react to unforeseen situat

Current robot manipulation and control paradigms have largely been developed for static or highly structured environments such as those common in factories. For

Human-level manipulation is not limited to the finger tips. We use our palms, arms, body and legs to make and break contact with the manipuland whenever and whe

The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Ma

Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it help