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 the

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... ub robot playing the Towers of Hanoi game are carried out to verify our system. The results demonstrate that the iCub using this approach can successfully grasp objects under certain position error with its under-actuated anthropomorphic hand. Yanyu Su is jointly with the State Key Laboratory of Robot and System,