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We present a unified framework for grasp planning and in-hand grasp adaptation using visual, tactile and proprioceptive feedback. The main objective of the proposed framework is to enable fingertip grasping and address problems of changed weight of the object, slippage and external disturbances. For this purpose, we introduce Hierarchical Fingertip Space (HFTS) concept as a representation enabling optimization for efficient grasp synthesis. Grasp synthesis is followed by a grasp adaptation step that consists of both grasp force adaptation through impedance control and regrasping/finger gaiting when the former is not sufficient. Experimental evaluation is conducted on an Allegro hand mounted on a Kuka LWR arm.

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Last update: 25/08/06