Mechanical assembly by a multi-fingered robotic hand with error recovery function

Describes a dexterous and robust manipulation system for mechanical assembly with a multifingered hand. The system is composed of a grasp planner and a real-time execution subsystem. The planner plans an initial grasp from which a required continuous motion of the object is achieved while keeping rolling contact at the fingertips. Task error detection and recovery strategies have been developed based on the task context. The system architecture and experiment results are shown