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The Yale GRAB Lab

The GRAB Lab conducts research into robot manipulation and biorobotic systems. Current research topics include robotic hands and dexterous grasping and manipulation, upper-limb prosthetics, human grasping and manipulation, and assistive and rehabilitation devices, among others. Some details on our established work can be found on the Research and Publications pages.

We have recently begun to make some of our robotic hand designs freely available as Open Hardware through the Yale OpenHand Project.

Along with those efforts, we are beginning a larger effort to encourage, centralize, and host other similar Open Robot Hardware efforts through our site OpenRobotHardware.org.

We have recently release a large dataset consisting of tagged video and image data of 28 hours of human grasping movements in unstructured environments: Yale Human Grasping Dataset.

Prof. Dollar is the editor and co-founder of RoboticsCourseWare.org, an open repository for robotics pedagogical materials.


We are currently seeking exceptional students to join our team as PhD and Master's candidates. Applicants should have a background in Mechanical or Electrical Engineering or a closely related field. Quality of the applicant is more important than specific background, although hardware and experimental experience is preferable. Interested students should contact Prof. Dollar and provide a copy of their resume and a brief description of their interests for graduate school.

Recent News

July 21 - GRAB Lab PhD Student Raymond Ma won Best Student Paper at the IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robotics (ReMAR). Congrats Ray!

July 1 - GRAB Lab Associate Research Scientist John Swensen begins his new job as Assistant Professor of Mechanical Engineering at Washington State University today. Congrats John!

June 30 - GRAB Lab Postdoc Adam Spiers won the Best Work in Progress Award at the World Haptics Conference for his work on haptic navigation. Congrats Ad!

June 13 - GRAB Lab members Ian Bullock and Thomas Feix won Best Poster at the Observing and Understanding Hands in Action Workshop (Hands 2015), at the Computer Vision and Pattern Recognition Conference (CVPR). Congrats Ian and Thomas!

May 27 - In a collaboration with Sidd Srinivasa (CMU) and Pieter Abbeel (Berkeley), we have released the Yale-CMU-Berkely (YCB) object and model set to assist with benchmarking and performance comparison in robotic manipulation research.

Dec. 2 - The lab has released the Yale Human Grasping Dataset consisting of tagged video and image data of 28 hours of human grasping movements in unstructured environments.

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