@conference {67, title = {Task-based Grasp Adaptation on a Humanoid Robot}, booktitle = {10th International IFAC Symposium on Robot Control (SYROCO 2012)}, year = {2012}, address = {Dubrovnik, Croatia}, author = {Jeannette Bohg and Kai Welke and Beatriz Le{\'o}n and Martin Do and Dan Song and Walter Wohlkinger and Marianna Madry and Aitor Aldoma and Markus Przybylski and Tamim Asfour and Higinio Mart{\'\i} and Danica Kragic and Antonio Morales and Markus Vincze} }