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Experiments on Dextrous Manipulation without Prior Object Models
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@TechReport{Fuentes:TR96c,
  author = 	 {Olac Fuentes and Randal C. Nelson},
  title = 	 {Experiments on Dextrous Manipulation without Prior Object Models},
  institution =  {Comp Sci Dept University of Rochester},
  year = 	 {1996},
  OPTnumber = 	 {606},
  OPTaddress = 	 {Rochester NY},
  OPTmonth = 	 {Feburary},
  abstract = {
In this paper we present a kinematic method for 6-degree-of-freedom manipulation of 
rigid objects using a dextrous robotic hand. Our method requires no prior models of 
the objects being manipulated; instead it obtains all the information needed directly 
from the hand's sensors. Its low computational cost makes real-time performance easy 
to achieve.

We present experimental results showing the implementation of our method using the 
Utah/MIT dextrous hand. We also show that adding a Cartesian controller significantly 
improves the accuracy of the manipulation.  }
}