Computing Frictionless Force-Closure Grasps of 2D Objects from Contact Point Set

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(n³ lg² n + K) where K is the number of unique solutions. Preliminary implementation is described along with experimental results showing efficiency of the algorithm.