Physically Plausible Wrench Decomposition for Multieffector Object Manipulation.

When manipulating an object with multiple effectors such as in multidigit grasping or multiagent collaboration, forces and torques (i.e., wrench) applied to the object at different contact points generally do not fully contribute to the resultant object wrench, but partly compensate each other. The current literature, however, lacks a physically plausible decomposition of the applied wrench into i...