Old documents kept for reference only. See updated version as of August 2015.
Grasp Taxonomy Comparison
Grasp Taxonomy Comparison Sheet (pdf, 1.2 mb) updated 2012-1-30
Description of the Sheet (pdf, 90 kb)
Abstract to RSS 2009 poster presentation (pdf, 455 kb)
Comprehensive Grasp Taxonomy
Taxonomy (pdf, 200 kb)
Grasp List (pdf, 180 kb)