In this paper, an automated planning approach for multi-fingered grasp is presented, which is suited to dexterous hand with four fingers, and the object has ordinary planar contour.

本文研究平面一般轮廓对象多指抓取方案的自动规划方法，适用于具有四个手指的多指灵巧手。

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The multi fingered robot hands constructed by redundant fingers are more dexterous and have bigger possibility to finish fine operation and to grasp objects with complicated shape.

由冗余自由度手指构成的多指灵巧手具有较大的灵巧性，对物体进行微细操作以及抓取特殊形状物体的能力也比非冗余自由度手指构成的多指手要强。

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