%0 Journal Article %J IEEE Trans. Robotics and Automation %D 2000 %T Manipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms %A A. Bicchi %A D Prattichizzo %K Grasping %K Manipulability %K Robot Arms %K Robot Hands %B IEEE Trans. Robotics and Automation %V 16 %P 336-345 %8 August %G eng