Chapter 36 — Motion for Manipulation Tasks

Control pre-imaging for multifingered grasp synthesis

The video demonstrates sensory-motor control for multifingered manipulation. The first part of the video shows a top and a lateral grasp of rectangular blocks synthesized by the proposed controller. The second part shows dexterous manipulation tests, controlling stable multiple fingers to walk over the surface of an object while grasping the object.
Jefferson A. Coelho Jr. et al.