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In manipulation tasks that require object acquisition, pre-grasp interaction such as sliding adjusts the object in the environment before grasping. This change in object placement can improve grasping success by making desired grasps reachable. However, the additional sliding action prior to grasping introduces more complexity to the motion planning process, since the hand pose relative to the object does not need to remain fixed during the pre-grasp interaction. Furthermore, anthropomorphicdoi:10.1016/j.robot.2011.07.015 fatcat:7wwcmpxeczaqnje6zslqcihozy