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Using Stereo Vision and Tactile Sensor Features - For Grasp Planning Control

Planning the grasp positions either from vision or tactile sensors one can expect various uncertainties. This paper describes a scheme that match visual stereo and tactile data based on stereo vision and tactile sensors. For grasp planning, initially, the grasping positions are generated from stereo features, then the feedback of tactile features is used to match these positions. The result of the matching algorithm is used to control the grasping positions. The grasping process proposed is experimented with an anthropomorphic robotic system.