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This paper addresses the problem of robot grasping in conditions of uncertainty. We propose a grasp controller that deals robustly with this uncertainty using feedback from different contact-based sensors. This controller assumes a description of grasp consisting of a primitive that only determines the initial configuration of the hand and the control law to be used. We exhaustively validate the controller by carrying out a large number of tests with different degrees of inaccuracy in the pose of the target objects and by comparing it with results of a naive grasp controller.
Felip et al. (2009) studied this question.