Computing frictionless force-closure grasps of 2D objects from contact point set

被引：1
|
作者：
Niparnan, Nattee [1 ]
Phoka, Thanathorn [1 ]
Sudsang, Attawith [1 ]
机构：
[1] Chulalongkorn Univ, Fac Engn, Dept Comp Engn, Bangkok 10330, Thailand
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 | 2006年
关键词：
grasping; force closure;
D O I：
10.1109/ROBIO.2006.340335
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For a set of n contact points on the boundary of a 2D object together with their contact normals, we present an output sensitive algorithm for computing all of combinations of four points from this set that achieve force closure under the frictionless contact assumption. The proposed algorithm runs in O(n(3) lg(2) n + K) where K is the number of unique solutions. Preliminary implementation is described along with experimental results showing efficiency of the algorithm.
引用
收藏
页码：872 / +
页数：2
相关论文
共 50 条
  • [1] A heuristic approach for computing frictionless force-closure grasps of 2D objects from contact point set
    Niparnan, Nattee
    Sudsang, Attawith
    [J]. 2006 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2, 2006, : 312 - +
  • [2] Computing all force-closure grasps of 2D objects from contact point set
    Niparnan, Nattee
    Sudsang, Attawith
    [J]. 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 1599 - +
  • [3] On computing multi-finger force-closure grasps of 2D objects
    Bounab, Belkacem
    Sidobre, Daniel
    Zaatri, Abdelouhab
    [J]. ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-1: ROBOTICS AND AUTOMATION, VOL 1, 2007, : 253 - 258
  • [4] ON COMPUTING 2-FINGER FORCE-CLOSURE GRASPS OF CURVED 2D OBJECTS
    PONCE, J
    STAM, D
    FAVERJON, B
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1993, 12 (03): : 263 - 273
  • [5] VISUALIZATION OF FORCE-CLOSURE GRASPS FOR OBJECTS THROUGH CONTACT FORCE DECOMPOSITION
    CHEN, YC
    WALKER, ID
    CHEATHAM, JB
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1995, 14 (01): : 37 - 75
  • [6] Computing n-finger force-closure grasps on polygonal objects
    Liu, YH
    [J]. 1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, : 2734 - 2739
  • [7] Planning force-closure grasps on 3-d objects
    Zhu, XY
    Ding, H
    [J]. 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 1258 - 1263
  • [8] ON COMPUTING 3-FINGER FORCE-CLOSURE GRASPS OF POLYGONAL OBJECTS
    PONCE, J
    FAVERJON, B
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1995, 11 (06): : 868 - 881
  • [9] On computing three-finger force-closure grasps of 2-D and 3-D objects
    Li, JW
    Liu, H
    Cai, HG
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (01): : 155 - 161
  • [10] On Computing Robust N-Finger Force-Closure Grasps of 3D Objects
    El-Khoury, Sahar
    Sahbani, Anis
    [J]. ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 2009, : 595 - +
12345