Grasp planning is a very complex problem due to the high number of degrees of freedom of robotic hands. In this
paper, we address the problem of on table object pre-shaping under different conditions based on the Fast Marching Square
path planning algorithm an its application to robot formations. With this algorithm, we make a high reduction in the
dimensionality of the problem, since all fingers work together while the hand follows a smooth trajectory. All this allows
the use of the algorithm in more realistic scenarios because we can control both the position and the orientation of the hand.