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Our pipeline is capable of building custom hand designs around specific manipulation tasks based on high-level user input. Our framework comprises of a sequence of trajectory optimizations chained together to translate a sequence of objective poses into an optimized hand mechanism along with a physically feasible motion plan involving both the constructed hand and the object. We demonstrate the feasibility of this approach by synthesizing a series of hand designs optimized to perform specified in-hand manipulation tasks of varying difficulty. We extend our original pipeline<jats:sup> 32 <\/jats:sup> to accommodate the construction of hands suitable for multiple distinct manipulation tasks as well as provide an in depth discussion of the effects of each non-trivial optimization term. <\/jats:p>","DOI":"10.1142\/s0219843619500294","type":"journal-article","created":{"date-parts":[[2019,11,18]],"date-time":"2019-11-18T08:41:53Z","timestamp":1574066513000},"page":"1950029","source":"Crossref","is-referenced-by-count":16,"title":["Automated Design of Robotic Hands for In-Hand Manipulation Tasks"],"prefix":"10.1142","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2601-0587","authenticated-orcid":false,"given":"Christopher","family":"Hazard","sequence":"first","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nancy","family":"Pollard","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stelian","family":"Coros","sequence":"additional","affiliation":[{"name":"Computer Science Department, ETH Zurich, Rmistrasse 101, Zurich 8092, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2020,1,8]]},"reference":[{"key":"S0219843619500294BIB001","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2011.5975408"},{"issue":"1","key":"S0219843619500294BIB002","first-page":"16","volume":"17","author":"Buss S. 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