Vision-based precision manipulation with underactuated hands: Simple and effective solutions for dexterity

IROS, pp. 1012-1018, 2016.

Cited by: 14|Views15


In this paper, a method is proposed for vision-based within-hand precision manipulation with underactuated grippers. The method combines the advantages of adaptive underactuation with the robustness of visual servoing algorithms by employing simple action sets in actuator space, called precision manipulation primitives (PMPs). It is shown...More



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