This report addresses the problem of acquiring objects using articulated robotic hands. Standard grasps are used to make the problem tractable, and a technique is developed for generalizing these standard grasps to increase their flexibility to variations in the problem geometry. A generalized grasp description is applied to a new problem situation using a parallel search through hand configuration space, and the result of this operation is a global overview of the space of good solutions. The techniques presented in this report have been implemented, and the results are verified using the Salisbury three-finger robotic hand.