NDLI: Two-Finger Squeezing Caging of Polygonal and Polyhedral Object

Content Provider	IEEE Xplore Digital Library
Author	Pipattanasomporn, P. Vongmasa, P. Sudsang, A.
Copyright Year	2007
Description	Author affiliation: Dept. of Comput. Eng., Chulalongkorn Univ., Bangkok (Pipattanasomporn, P.; Vongmasa, P.; Sudsang, A.)
Abstract	The problem of object caging is defined as a problem of designing a formation of fingers to restrict an object within a bounded space. Assuming two pointed fingers and a rigid polygonal or polyhedral object, this paper addresses the problem of two-finger squeezing caging, i.e., to characterize all possible formations of the fingers that are capable of caging the object via limiting their separation distance. Our study is done entirely in the object's frame allowing the object to be considered as a static obstacle so that the analysis can be performed in terms of the finger motion. Our solution is based on partitioning the configuration space of the problem into finite subsets called nodes. A graph of these nodes can then be constructed to represent all possible finger motion where a search based method can be applied to solve the caging problem. The partitioning of the configuration is based on convex decomposition of the free space. Let m be the number of convex subsets from the decomposition, our proposed algorithm reports all squeezing cage sets in $O(n^{2}$ + nm + $m^{2}$ log m) for a polygonal input with n vertices and $O(nN^{3}$ + $n^{2}$ + nm + $m^{2}$ log m) for a polyhedron with n vertices and having TV edges exhibiting a reflex angle. After reporting all squeezing cages, the proposed algorithm can answer whether a given finger placement can cage the object within a logarithmic time.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	205
Ending Page	210
File Size	384061
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363788
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fingers Algorithm design and analysis Performance analysis Motion analysis Partitioning algorithms Robotics and automation Transportation Mobile robots Region 6 Data structures
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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