Abstract
In this paper, we consider an optimization of grasping by using a required external force set. By using the set, we can not only deal with whatever a desired grasp is, such as force-closure or equilibrium grasp, but also evaluate the magnitude of resultant force which we can apply to the object. By using the set, we define an optimization problem from the viewpoint of decreasing the work of contact forces, and show that we can solve the problem by using a branch-and-bound method. Lastly we present some numerical simulations for verifying our approach.
