Heuristic Approach for Multiple Queries of 3D N-Finger Frictional Force Closure Grasp

被引：2
|
作者：
Niparnan, Nattee [1 ]
Phoka, Thanathorn [1 ]
Sudsang, Attawith [1 ]
机构：
[1] Chulalongkorn Univ, Dept Comp Engn, Fac Engn, Bangkok 10330, Thailand
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
ALGORITHM; OBJECTS;
D O I：
10.1109/IROS.2009.5354481
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This work proposes a necessary condition for n-finger force closure grasp which considers true quadratic force cone without linearization. The condition finds its use as a heuristic for multiple queries force closure test. The heuristic works as a filtering criteria which improves the overall running time of the entire set of queries. An empirical example shows that our approach could speed up the force closure test be the factor of four. This work improves our earlier works [1], [2] to cover the case of n-finger grasp.
引用
收藏
页码：1817 / 1822
页数：6
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