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In this paper, a precision grasp-planning framework is presented for multi-finger hand to grasp unknown objects. First, the manipulation capabilities of the robotic hand are analyzed. The analysis results are further used as bases for the precision grasp planning. Second, the superquadric (SQ) fitting method is used for approximating unknown object models. Finally, a local\u2013global optimization method is implemented to find appropriate grasp configurations for dexterous hand. The presented planning framework is validated in simulation experiments. Simulation results demonstrated that the presented grasp-planning framework enables the multi-finger hand to grasp unknown objects effectively.<\/jats:p>","DOI":"10.1017\/s0263574719000031","type":"journal-article","created":{"date-parts":[[2019,2,21]],"date-time":"2019-02-21T11:02:06Z","timestamp":1550746926000},"page":"1415-1437","source":"Crossref","is-referenced-by-count":17,"title":["Precision Grasp Planning for Multi-Finger Hand to Grasp Unknown Objects"],"prefix":"10.1017","volume":"37","author":[{"given":"Wenyu","family":"Yan","sequence":"first","affiliation":[]},{"given":"Zhen","family":"Deng","sequence":"additional","affiliation":[]},{"given":"Jinbao","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Hong","family":"Nie","sequence":"additional","affiliation":[]},{"given":"Jianwei","family":"Zhang","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2019,2,21]]},"reference":[{"key":"S0263574719000031_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2651158"},{"key":"S0263574719000031_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/70.34763"},{"key":"S0263574719000031_ref23","doi-asserted-by":"publisher","DOI":"10.1177\/1729881417748444"},{"key":"S0263574719000031_ref2","first-page":"919","volume-title":"Proceedings of the IEEE\/RAS International Conference on Humanoid Robots","author":"Vahrenkamp","year":"2016"},{"key":"S0263574719000031_ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-19457-3_19"},{"key":"S0263574719000031_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909105606"},{"key":"S0263574719000031_ref13","first-page":"1","volume-title":"Proceedings of the International Conference on Advanced Robotics","author":"Gori","year":"2013"},{"key":"S0263574719000031_ref19","doi-asserted-by":"crossref","first-page":"2290","DOI":"10.1109\/ROBOT.1992.219918","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Ferrari","year":"1992"},{"key":"S0263574719000031_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IRC.2018.00062"},{"key":"S0263574719000031_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2011.07.016"},{"key":"S0263574719000031_ref20","first-page":"3493","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Pokorny","year":"2013"},{"key":"S0263574719000031_ref22","first-page":"6800","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Roa","year":"2014"},{"key":"S0263574719000031_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/34.44401"},{"key":"S0263574719000031_ref18","first-page":"4679","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Goldfeder","year":"2007"},{"key":"S0263574719000031_ref10","first-page":"4238","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Duncan","year":"2013"},{"key":"S0263574719000031_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2020351"},{"key":"S0263574719000031_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2588879"},{"key":"S0263574719000031_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2015.2448951"},{"key":"S0263574719000031_ref3","first-page":"1","article-title":"Grasp planning via hand-object geometric fitting","volume":"3","author":"Song","year":"2016","journal-title":"Vis. 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