1. Suggest how to modify the force optimization problem such that the quality function Q F N would become well posed for all grasp arrangements, making sure that any additional constraints retain the...

1. Suggest how to modify the force optimization problem such that the quality function Q F N would become well posed for all grasp arrangements, making sure that any additional constraints retain the convex nature of the problem. 2. Can the least friction reliant grasp be precisely attained with Q F N = 0 when the task wrench, wext , is balanced by k = 4 frictional point contacts in 2-D grasps or k = 7 frictional point contacts in 3-D grasps?