Fig. 8
From: Human-based framework for the assembly of elastic objects by a dual-arm robot
Snapshots of the assembly experiment using an elastic band (natural rubber) at a initial state, b at right arm key point 2, c between right arm key point 2 and left arm key point 4, d between left arm key point 4 and right arm key point 3, e at right arm key point 4, f between right arm key point 5 and left arm key point 6, g end of the assembly task and h after releasing the elastic band from the left gripper