• DocumentCode
    3176590
  • Title

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

  • Author

    Niparnan, Nattee ; Sudsang, Attawith

  • Author_Institution
    Dept. of Comput. Eng., Chulalongkorn Univ., Bangkok
  • fYear
    2006
  • fDate
    Oct. 2006
  • Firstpage
    1599
  • Lastpage
    1604
  • Abstract
    Given a set of n contact points on the boundary of a 2D object together with their contact normals and frictional coefficient, we present an output sensitive algorithm for computing all combinations of three points from this set that achieve force-closure under the frictional contact assumption. The proposed algorithm runs in O(n2 lg2n + K) where K is the number of different solutions. Preliminary implementation is described along with experimental results showing efficiency of the algorithm
  • Keywords
    computational complexity; force control; friction; manipulator kinematics; mechanical contact; contact normals; contact point set; force-closure grasps; frictional coefficient; frictional contact; Computational efficiency; Costs; Curve fitting; Grasping; Grid computing; Intelligent robots; Resists; Shape; Stability; Torque;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
  • Conference_Location
    Beijing
  • Print_ISBN
    1-4244-0259-X
  • Electronic_ISBN
    1-4244-0259-X
  • Type

    conf

  • DOI
    10.1109/IROS.2006.282049
  • Filename
    4058603
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3176590