ABSTRACT
This paper attempts to quantify the trade-offs that exist among the number of fingers, coefficient of fric tion and the goodness of a grasp. In particular, we give a general framework for defining a grasp metric that takes friction into account. We contrast our ap proach to an older metric that was proposed by Ferrari and Canny [FC92] for the frictional case. In addition, we discuss several algorithmic solutions related to fric tional grasps.
