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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.

Prof. Dollar recently started a new group at Yale tentatively called Yale Tech for Conservation.

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.

Our lab founded (along with Sidd Srinivasa (CMU) and Pieter Abbeel (Berkeley)) and leads the YCB Object and Model Set benchmarking effort. .

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 1 - Professor Dollar has officially been promoted to Full Professor!

April 12 - GRAB Lab PhD Student Andrew Morgan was awarded an NSF Graduate Research Fellowship. Congrats, Andy!

March 30 - A paper led by GRAB Lab Postdoc Kaiyu Hang was selected as a finalist for Best Manipulation Paper at ICRA 2019. Congrats, Hang!

March 26 - Former GRAB Lab Postdoc Julia Borras Sol has been granted a permanent faculty position at IRI Barcelona, likely the top Robotics Research Institute in Spain. Congrats and Good Luck, Julia!

Feb. 24 - Prof. Dollar and the GRAB Lab were featured in a six-page spread in the Yale Alumni Magazine.

Feb. 1 - The Call for Papers for a GRAB Lab-led Special Issue on Benchmarking for Robotic Grasping and Manipulation in the IEEE Robotics and Automation Letters Journal has been released.

Jan. 31 - All 7 GRAB Lab submissions to ICRA 2019 were accepted (statistically a 0.3% chance for seven submissions, which is itself impressive). Congrats, to all the authors!!!!!

Dec. 1 - A $2M proposal led by Prof. Dollar on muscle-inspired modular soft robots was funded by the National Science Foundation. Congrats to the whole team, which includes Tom Roberts (Brown), Josh Smith (U. Washington), and Jeff Trinkle (RPI)!

Aug. 1 - Recent GRAB Lab Postdoc Berk Calli began his new job as Assistant Professor in Computer Science at the Worcester Polytechnic Institute (WPI). Congrats and Good Luck, Berk!

July 1 - Former GRAB Lab Assoc. Research Scientist Ravi Balasubramanian was granted tenure at Oregon State University. Congrats and well-deserved, Ravi!

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