Michelman Paul author Columbia University. Computer Science Allen Peter K. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1993 English The control of precise, compliant manipulation tasks with multifingered robots is discussed. Emphasis is placed on performing manipulations of grasped objects that are themselves undergoing compliant motion. This class of manipulations include common tasks such as using tools, writing, and sliding an object on a surface. A task-level formulation is presented and illustrated. Results of experiments are presented to demonstrate the feasibility of performing precision manipulations with a dextrous hand. Robotics Piscataway, N.J. IEEE 1993 711 716 http://dx.doi.org/10.1109/ROBOT.1993.291822