Visual control of grasping and manipulation tasks

This paper discusses the problem of visual control of grasping. We have implemented an object tracking system that can be used to provide visual feedback for locating the positions of fingers and objects to be manipulated, as well as the relative relationships of them. This visual analysis can be used to control open loop grasping systems in a number of manipulation tasks where the finger contact, object movement, and task completion need to be monitored and controlled.<
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