(:quicktime http://www-clmc.usc.edu/movies/grasping_and_manipulation/IROS11_2134_VI_i.mov scale=aspect height=275 width=400 autostart="false" :)

This video shows how knowledge of expected tactile events can be used to correct for erroneous perception. Using a combination of force control and feedback into a movement primitive, the robot can compensate for even very large errors in perception and creates a robust grasping behavior. The associated paper behind this research received the Overall Best Paper Award at IROS 2011.