Fig. 9

Snapshots of the assembly experiment using an o-ring (silicon 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 o-ring band from the right gripper