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

摘要

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.