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# Grasp and Manipulation of Objects with a Multi-Fingered Hand ...

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LIST OF FIGURES
4.2 Block scheme of the CLIK algorithm with redundancy resolution
based on equation (4.10). Notice that N = n
f
. . . . . . . . . . . .
48
4.3 Manipulation system for the case study. . . . . . . . . . . . . . . .
49
4.4 Path imposed to the position of the object. . . . . . . . . . . . . .
50
4.5 Time history of the object's pose error in terms of the average of the
norm of the pose errors of the 4 parallel CLIK algorithms. Dashed
4.6 Time history of joint 3 variable. Dashed line: without secondary
tasks. Continuous line: with secondary tasks. . . . . . . . . . . . .
52
4.7 On the left: time history of the distance between tips 1 and 3.
Dashed line: without secondary tasks. Continuous line: with sec-
ondary tasks. On the right: time history of the x position of the
contact points with respect to the center of the object. Dashed line:
52
A.1 Finger trajectories evaluated by the local grasp planner (continu-
ous lines) and the corresponding sequence of grasp points on the
reconstructed object's surface (dotted lines). . . . . . . . . . . . . .
61
A.2 Finger trajectories evaluated by the local grasp planner (continu-
ous lines) and the corresponding sequence of grasp points on the
reconstructed surface for the smooth prism (dotted lines). . . . . .
62
xviii

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Summary :

## Notice that N = n f . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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