Purposeful and robust manipulation requires a good hand-eye coordination. To a certain extend this can be achieved using information from joint encoders and known kinematics. However, for many robots a significant error in the pose of the end-effector and fingers of several centimeters remains. Especially for fine manipulation tasks...
Jeannette Bohg Alexander Herzog Stefan Schaal Javier Romero Felix Widmaier
Widmaier, F., Kappler, D., Schaal, S., Bohg, J.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2016, IEEE, IEEE International Conference on Robotics and Automation, May 2016 (inproceedings)