- Table 1 Comparison of grasps obtained with and without force-closure cost function.
Force-closure cost value Grasp Cost not used Cost used Bipodal 1.9 × 107 8.5 × 105 Tripodal 2.5 × 107 3.1 × 106 Sphere five finger 2.7 × 108 4.6 × 107 Cylinder five finger 1.9 × 108 1.4 × 107
Supplementary Materials
robotics.sciencemag.org/cgi/content/full/4/26/eaao4900/DC1
MATLAB code (.zip)
Additional Files
Supplementary Materials
Other Supplementary Material for this manuscript includes the following:
- MATLAB code (.zip)
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