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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.

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

Jan. 1 - GRAB Lab Postoc Minas Liarokapis starts his new job as a Lecturer (Assistant Professor equivalent) in the Dept. of Mechanical Engineering at the University of Auckland, New Zealand. Congrats, Minas!

Dec. 15 - Former GRAB Lab Postoc Nicolas Rojas moved to a new job as a Lecturer (Assistant Professor equivalent) at Imperial College, London. Congrats, Nico!

Sept. 30 - Prof. Dollar has been named as Outstanding Junior Alumnus of the Univ. of Massachusetts at Amherst College of Engineering.

Aug. 27 - Ian Bullock and Raymond Ma successfully defended their dissertations today in a back-to-back marathon. Congratulations to both!

Jan. 1 - GRAB Lab Postoc Nicolas Rojas starts his new job as a Lecturer (Assistant Professor equivalent) of Mechatronics at the University of Sussex (UK). Congrats, Nico!

Nov. 15 - GRAB Lab Postdoc Thomas Feix starts his new job as a Research Engineer for the Adidas Future Team, focusing on manufacturing for customization. Exciting!

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!

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