Parallel methods for synthesizing whole-hand grasps from generalized prototypes

Abstract

Robotic hands are very flexible mechanisms. Because of this flexibility, it has been difficult to automate the process of acquiring objects using these robotic hands. Each new grasping problem is too complex to analyze without the use of good heuristics. Constraints due to target object geometry, environment geometry, hand kinematics and geometry, and a task description must all be considered when forming a solution. One tempting