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

页码：872 / +

页数：2

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