New hand posture classification strategy for finding kinematically-feasible precision grasps

We present new strategy for finding kinematically-feasible precision grasps for particular robot hand. By collecting samples of hand posture and classifying them into multi level-of-detail of posture information for each hand configuration, we can efficiently search for valid hand postures given a set of contact points within reasonable processing time. The approach for creating hand posture database can be also applied to any kind of robot hands as long as the kinematic specification of those hands are provided.