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- W2135862395 abstract "In this paper, we present a novel approach for sensor-guided robotic execution of everyday tasks, which is amenable to be integrated in current mobile manipulators and humanoid robots. We consider a robot which is observing simultaneously his hand and the object to manipulate, by using an external camera (i.e. robot head). Task-oriented grasping algorithms are used in order to plan a suitable grasp on the object according to the task to perform. A new vision/force coupling approach [1] is used in order to, first, guide the robot hand towards the grasp position and, second, perform the task taking into account external forces. Experimental results on a real robot are presented which validate our approach." @default.
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- W2135862395 date "2007-10-01" @default.
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- W2135862395 title "VIsion force control in task-oriented grasping and manipulation" @default.
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- W2135862395 doi "https://doi.org/10.1109/iros.2007.4399256" @default.
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