Heuristic approach for multiple queries of 3D n-finger frictional force closure grasp

This work proposes a necessary condition for n-finger force closure grasp which considers true quadratic force cone without linearization. The condition finds its use as a heuristic for multiple queries force closure test. The heuristic works as a filtering criteria which improves the overall running time of the entire set of queries. An empirical example shows that our approach could speed up the force closure test be the factor of four. This work improves our earlier works to cover the case of n-finger grasp.