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A dexterous manipulation system with error detection and recovery by a multi-fingered robotic hand

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3 Author(s)
Matsuoka, T. ; Dept. of Electr. Eng., Fukuoka Univ., Japan ; Hasegawa, T. ; Honda, K.

Describes a dexterous and robust manipulation system with a multi-fingered hand. The system is composed of a real-time pose estimation of an object manipulated by the hand, a precise manipulation using fingertip with rolling contact, motion primitives for mechanical assembly, and error-recovery strategies based on the task observation function. The system architecture and experimental results are shown

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:1 )

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