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This paper presents a grasp execution strategy for grasping an object with one trial when there is uncertainty in the object position. This strategy is based on three grasping components: 1) robust grasp trajectory planning which can cope with reasonable amount of initial object position error, 2) sensor-based grasp adaptation, and 3) compliant characteristics of the under actuated mechanism. This strategy is implemented and tested on the iCub humanoid robot. Two experiments and a demo of thedoi:10.1109/humanoids.2012.6651599 dblp:conf/humanoids/Su0LDD12 fatcat:o3l4sah6ebdkrlwepb3xcikt5q