Grasp synthesis from example: tuning the example to a task or object

Many approaches to grasp synthesis do not scale well as the desired number of contacts is increased. In previous work [21], we have presented a technique that makes use of an example grasp to make synthesis tractable for grasps having larger numbers of contacts. However, an interesting side effect of this approach is that results can pick up quirks that are present in the example, some of which may be undesirable. We are beginning to explore techniques to tune an example grasp for a specific collection of task wrenches and to a given object geometry. This paper presents preliminary results.