You are presented with multiple paper abstracts, alongside the associated literature review and chapter titles. Given the provided information, you are going to do a literature review. Please generate a coherent literature review that synthesizes the content, draws connections between different works, highlights major findings, and identifies any gaps in the existing research.

Literature Review Title: Finger design automation for industrial robot grippers: A review 
Chapter Title:  Unlimited Contact Methods for Polyhedral Objects 
1. Abstract of Cited Paper (BIB001):  We study the criteria under which an object can be gripped by a multifingered dexterous hand, assuming no static friction between the object and the fingers; such grips are calledpositive grips. We study three cases in detail: (i) the body is at equilibrium, (ii) the body is under some constant external force/torque, and (iii) the body is under a varying external force/torque. In each case we obtain tight bounds on the number of fingers needed to obtain grip.

Literature Review:
By considering the fact that a necessary and sufficient condition for force closure grasps is that the origin of the wrench space lies precisely inside the convex hull of the primitive contact wrenches resulted by the contact forces at the fingers  BIB002 ,  present a qualitative test based on linear matrix inequalities that deal efficiently with frictional constraints to avoid the linearization of the friction cones. Another method is proposed by BIB001 that tests the force closure condition by using a ray-shooting problem and solves as a linear programing problem. Based on the force-closure tests presented in BIB001  , 3D grasp synthesizer algorithms for unlimited number of contacts are proposed. Liu (2000) propose a grasp synthesis method for contacts when − 1 contacts have fixed positions and the grasp with the − 1 contacts is not force-closure. Utilizing the linear parametrization of a point on a facet, the algorithm searches locations on that face for the th contact that secures force-closure. Pros: These methods are applicable to any number of contacts. Cons: The approaches suffer from an exhaustive search procedure.