NDLI: Output-Sensitive Computation of All Form-Closure Grasps of a Semi-Algebraic Set

Content Provider	IEEE Xplore Digital Library
Author	Jae-Sook Cheong van der Stappen, A.F.
Copyright Year	2005
Description	Author affiliation: Institute of Information and Computing Sciences, Utrecht University P.O. Box 80.089, 3508 TB Utrecht, The Netherlands jaesook@cs.uu.nl (Jae-Sook Cheong)
Abstract	We propose the first efficient output-sensitive algorithms for computing all form-closure grasps of a planar curved part P with at most four frictionless point contacts. The boundary of P consists of m concave vertices and n algebraic arcs with a constant degree. All our algorithms are output-sensitive, which means that their running times largely depend on the actual output size K rather than the (often much larger) maximum size of the output. More specifically, we show how to determine • all form-closure grasps with four points along four arcs in $O(n^{8/3}log^{1/3}n$ + K) time, • all form-closure grasps with four points along three arcs in $O(n^{5/2+ε}+$ K) time, • all form-closure grasps with one point at a concave vertex and two points along two arcs in $O(n^{2}m^{1/2+ε}+$ K) time, • all form-closure grasps with one point at a concave vertex and two points along a single arc in O(nm) or $O(n^{3/2+ε}+$ K) time (depending on the size of m), • all form-closure grasps with two points at concave vertices and one point along arc in $O(nm^{2})$ or O $(n^{2+ε}+$ K) time (depending on the size of m), where ε is an arbitrarily small positive constant. All our algorithms rely on the geometric condition in three-dimensional wrench space, which is transformed into two-dimensional geometric intersection problems.
Starting Page	772
Ending Page	778
File Size	218997
Page Count	7
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570211
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Orbital robotics Grasping Manufacturing Performance analysis Friction output-sensitive algorithm Form-closure grasp curved planar part algebraic arcs
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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