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ARM-S Phase 1, Unlocking a Door, 2011 - This video shows autonomous insertion of a key and unlocking a door. After imaging the scene and localizing the handle, the arm moves toward contact using the key already in the hand. The finger knuckles move into contact with the door handle on both the front and side face to provide relative hand to handle localization. The key is then inserted using force control and dither motions.
ARM-S Phase 1, Unlocking a Door, 2011
Click here for video (.mov - 39 MB, 1440x900)
Click here for video (.mpg - 8 MB, 1440x900)
Caption: This video shows autonomous insertion of a key and unlocking a door. After imaging the scene and localizing the handle, the arm moves toward contact using the key already in the hand. The finger knuckles move into contact with the door handle on both the front and side face to provide relative hand to handle localization. The key is then inserted using force control and dither motions.
 

 
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