Acknowledgements

This work was supported by NSF grant DMC-8520475 and NASA-Ames grant NCC 2-463. The gripper was provided by the Lord Corporation.

We thank Mike Erdmann, Randy Brost, Alan Christiansen, Klaus Gross, Merrick Furst, Gary Miller, Kevin Lynch, Srinivas Akella, Takeo Kanade, Paul Wright, and Rob Kass for helpful discussions. We also thank Ben Brown, Yangsheng Xu, Roy Taylor, and Nichole Vecchi for comments on the text.

Matt Mason and Ken Goldberg.