@INPROCEEDINGS{Mavrogiannis2014ICRA, 
author={C. I. Mavrogiannis and C. P. Bechlioulis and M. V. Liarokapis and K. J. Kyriakopoulos}, 
booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA)}, 
title={Task-specific grasp selection for underactuated hands}, 
year={2014}, 
pages={3676-3681}, 
keywords={dexterous manipulators;optimisation;DLR/HIT II five fingered robot hand kinematic model;dexterous multifingered hands;geometric limitations;human grasping behavior;hypothetical underactuated hand;mechanical limitations;object shape;optimization scheme;soft synergy model;task-specific force closure grasps;task-specific grasp selection;underactuated robot hands;Ellipsoids;Force;Grasping;Joints;Kinematics;Optimization;Robots}, 
doi={10.1109/ICRA.2014.6907391}, 
ISSN={1050-4729}, 
month={May},}