A new grasp quality metric based on maximal resistible wrenches without material fracture is introduced along with optimization algorithms for generating optimal grasps.
Energy-bounded caging: Formal definition and 2-d energy lower bound algo- rithm based on weighted alpha shapes,
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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.