El Khoury, SaharDe Souza, Ravin LuisBillard, Aude2014-11-172014-11-172014-11-17201510.1016/j.robot.2014.11.016https://infoscience.epfl.ch/handle/20.500.14299/108908WOS:000350931500013This paper addresses the problem of optimal grasping of an object with a multi-fingered robotic hand for accomplishing a given task. The task is first demonstrated by a human operator and its force/torque requirements are captured through the usage of a sensorized tool. The grasp quality is computed through a task compatibility criterion. Grasp synthesis is then formulated as a single constrained optimization problem, generating grasps that are feasible for the hand’s kinematics by maximizing the corresponding task-oriented quality criterion and ensuring grasp stability. The method was validated on a human hand model and is shown to be easily adapted to different hand kinematic models.Graspingforce-closurehand kinematicsTask modellingtext::journal::journal article::research article