A research project is described that focuses on building a comprehensive grasping environment capable of performing tasks such as locating moving objects and picking them up, manipulating man-made objects such as tools, and recognizing unknown objects through touch. In addition, an integrated programming environment is being designed that will allow grasping and grasping primitives within an overall robotic control and programming system that includes dextrous hands, vision sensors, and multiple-degree-of-freedom manipulators. A system overview is given, and the applications are discussed.
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