Optimal multifingered grasp synthesis

Abstract

This paper discusses how grasp synthesis can be cast as a control composition problem. Two elemental grasp controllers are presented and composed into a general purpose grasp controller through the use of standard optimal control techniques. The resulting grasp synthesis procedure is scalable on the number of contacts, is not tied to any specific object representation scheme, and can incorporate kinematic constraints into its resolution.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>