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First step in the automatic assembly of an IKEA chair : pin insertion. We integrated optical motion capture, motion/grasp planning and force control t (more)

First step in the automatic assembly of an IKEA chair : pin insertion. We integrated optical motion capture, motion/grasp planning and force control to achieve this highly dexterous task. See the accompanying paper "A Framework for Fine Robotic Assembly" http://arxiv.org/abs/1509.04806

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