Darrell Stam

Papers

Total Citations

118

H-Index

About

Darrell Stam is a foundational figure in robotic manipulation, best known for his pioneering work in computational grasping. His research centers on the mechanics of robotic hands, specifically the synthesis and analysis of force-closure grasps—a critical problem in enabling robots to securely hold objects. Stam’s most influential contribution, the 1993 paper “On Computing Two-Finger Force-Closure Grasps of Curved 2D Objects,” has garnered 118 citations and remains a cornerstone in the field. In this work, he introduced a rigorous algorithm for computing force-closure grasps on piecewise-smooth, curved, two-dimensional objects, assuming point contact with friction and using a two-fingered gripper. By representing object boundaries as collections of polynomial parameters, Stam provided a systematic, geometric approach that moved grasp planning from heuristic trial-and-error to provable, algorithmic design. This contribution laid essential groundwork for later advances in dexterous manipulation and robotic hand control. Stam’s work is particularly valued for its mathematical clarity and practical applicability, making it a key reference for students and researchers in robotics, manufacturing, and prosthetics. His legacy endures in every modern grasp planner that seeks to ensure a stable, secure hold.