Task-oriented quality measures for dextrous grasping

We propose a new and ef cient approach to compute task oriented quality measures for dextrous grasps. Tasks can be speci ed as a single wrench to be applied, as a rough direction in form of a wrench cone, or as a complex wrench polytope. Based on the linear matrix inequality formalism to treat the friction cone constraints we formulate respective convex optimization problems, whose solutions give the maximal applicable wrench in the task direction together with the needed contact forces. Numerical experiments show that application to complex grasps with many contacts is possible.