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This paper addresses the development of a 3-fingered humanoid robot hand system and a
real-time grasp synthesis of multifingered robot hands to find grasp configurations which
satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient
grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on
a given polygonal object to obtain a force closure grasp by the multifingered robot hand. For
an optimum grasp and real-time computation, we develop the preference and the ¡¦
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