  This paper proposes a new framework to design a controller for the dexterous
manipulation of an object by a multi-fingered hand. To achieve a robust
manipulation and wide range of operations, the uncertainties on the location of
the contact point and multiple operating points are taken into account in the
control design by sampling the state space. The proposed control strategy is
based on a robust pole placement using LMIs. Moreover, to handle uncertainties
and different operating points, we recast our problem as a robust convex
program (RCP). We then consider the original RCP as a scenario convex program
(SCP) and solve the SCP by sampling the uncertain grasp map parameter and
operating points in the state space. For a required probabilistic level of
confidence, we quantify the feasibility of the SCP solution based on the number
of sampling points. The control strategy is tested in simulation in a case
study with contact location error and different initial grasps.
