Table 1 Comparison of grasps obtained with and without force-closure cost function.
Force-closure cost value
GraspCost not usedCost used
Bipodal1.9 × 1078.5 × 105
Tripodal2.5 × 1073.1 × 106
Sphere five finger2.7 × 1084.6 × 107
Cylinder five finger1.9 × 1081.4 × 107