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Lecture Notes in Computer Science
Dextrous high degree of freedom (DOF) robotic hands provide versatile motions for fine manipulation of potentially very different objects. However, fine manipulation of an object grasped by a multifinger hand is much more complex than if the object is rigidly attached to a robot arm. Creating an accurate model is difficult if not impossible. We instead propose a combination of two techniques: the use of an approximate estimated motor model, based on the grasp tetrahedron acquired when graspingdoi:10.1007/3-540-61123-1_174 fatcat:223d4e5xyvdvnkqu4wdiul2yci