Multifingered manipulators are mechanically redundant and so may address a broad array of object geometries, more general force domain tasks, and nested grasp objectives. Many complex robot systems, such as multifingered manipulators, legged platforms, and teams of kinematically independent robots, can benefit from techniques which determine how to use environmental geometry to advantage in interaction tasks. A multiple-resolution object representation in the force domain which facilitates grasp synthesis is presented. A means for describing grasp objectives and a control strategy for designing the geometry of contact mediated by force domain goals are presented.
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