@INPROCEEDINGS{Liarokapis2015IROS, 
author={M. V. Liarokapis and B. Calli and A. J. Spiers and A. M. Dollar}, 
booktitle={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
title={Unplanned, model-free, single grasp object classification with underactuated hands and force sensors}, 
year={2015}, 
pages={5073-5080}, 
keywords={adaptive control;dexterous manipulators;force sensors;grippers;learning systems;open loop systems;pattern classification;random processes;actuator positions;adaptive robot grippers;advanced machine learning technique;force sensors;model-free object classification;open-loop control;random forest classification technique;single force closure grasp;single grasp object classification;two-fingered compliant underactuated robot hand;unplanned object classification;Force sensors;Grasping;Object recognition;Robot sensing systems;Thumb}, 
doi={10.1109/IROS.2015.7354091}, 
month={Sept},}