INTRODUCTION

Implementation of Allegro Hand grasping algorithm.
The algorithm is originally published at ICRA 2012.
For the detail of the algorithm please refer to the paper, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots" by Ji-Hun Bae, Sung-Woo Park, Doik-Kim, Moon-Hong Baeg, and Sang-Rok Oh.

CREATEINFO

• Author: Sangyup (Sean) Yi
• Data: 2012/08/31

MODIFYINFO

• 2012/08/31: Commit this document. (by Sean)