TY - JOUR T1 - Manipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms JF - IEEE Trans. Robotics and Automation Y1 - 2000 A1 - A. Bicchi A1 - D Prattichizzo KW - Grasping KW - Manipulability KW - Robot Arms KW - Robot Hands VL - 16 ER -