A new approach for grasp quality calculation using continuous boundary formulation of grasp wrench space

In this paper, we aim to use a continuous formulation efficiently calculate the well-known wrench-based grasp metric proposed by Ferrari and Canny which is minimum distance from wrench space origin boundary of space. Considering L∞ nonlinear friction cone model, challenge calculating determine Instead relying on convex hull construction, propose formulate as functions. By doing so, problem quality calculation can be solved typical least-square problems it easily implemented employing off-the-shelf optimization algorithms. Numerical tests will demonstrate advantages compared conventional hull-based methods.