A quantitative measure for multi-fingered grasps

By using the concept of gauge function, a pseudo metric is defined in the wrench space. On this basis, we present a quality index for multi-fingered grasp, which measures the maximum magnitude of the wrench that can be resisted by the grasp in the worst case. The proposed measure can be formulated as a set of linear programming problems, hence can be calculated efficiently. An optimal grasp synthesis algorithm, which can be used to compute the optimal grasp configuration, is also proposed. Moreover, we present an approach for calculating all grasp configurations that verify quantitative constraints for polygonal objects