The theory of grasp and manipulation analysis has many established results that are foundational for the work done today. Still, our current analysis tools have not yet enabled tasks requiring high level of dexterity, such as object acquisition from dense clutter, dexterous manipulation of generic objects, etc. Are there key tools still missing from our analysis toolbox? We are looking for the computational tools that will enable applications such as general grasp analysis for dexterous hands, manipulation and grasp planning, hand analysis, etc.
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