# The GR2 Gripper: An Underactuated Hand for Open-Loop In-Hand Planar Manipulation

> Research article (IEEE Transactions on Robotics, 2016) · cited 119× · AI/ML

**Wikidata**: [openalex:W2343757578](https://www.wikidata.org/wiki/openalex:W2343757578)  
**Source**: https://4ort.xyz/entity/the-gr2-gripper-an-underactuated-hand-for-open-loop-in-hand-planar-manipulation