A new grasp quality metric based on maximal resistible wrenches without material fracture is introduced along with optimization algorithms for generating optimal grasps.
Steinbach, Numerical approximation methods for elliptic boundary value problems: finite and boundary elements
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Generating Optimal Grasps Under A Stress-Minimizing Metric
A new grasp quality metric based on maximal resistible wrenches without material fracture is introduced along with optimization algorithms for generating optimal grasps.