NDLI: Planning optimal independent contact regions for two-fingered force-closure grasp of a polygon

Content Provider	IEEE Xplore Digital Library
Author	Phoka, T. Vongmasa, P. Nilwatchararang, C. Pipattanasomporn, P. Sudsang, A.
Copyright Year	2008
Description	Author affiliation: Dept. of Comput. Eng., Chulalongkorn Univ., Chulalongkorn (Phoka, T.)
Abstract	This paper addresses the problem of optimizing the maximal independent contact region for two-fingered force- closure grasp of a rigid object in 2D. Existing methods for optimizing this criterion considered only independent graspable regions on a given pair of edges. We propose an algorithm that takes nearby edges into consideration so that larger independent contact regions can be obtained. Our method takes the input polygons, computes graspable regions for each pair of edges, merge all adjacent regions together, and then find the best independent contact region inscribed in those regions. Two different criteria to define the best independent contact region are studied. The first criterion maximizes area of the axis-parallel rectangle in the configuration space, while the other criterion maximizes the smaller side's length of the rectangle. For a given object with n vertices, the first criterion can be optimized using the algorithm from Karen Daniels et al. in $O(n^{2}$ $log^{2}$ n) time, while the other criterion can be optimized using the algorithm from Evanthia Papadopoulou and D. T. Lee in $O(n^{2}$ log n) time.
Starting Page	1175
Ending Page	1180
File Size	306317
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543363
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Testing Fingers Robotics and automation USA Councils Optimization methods Manufacturing processes Robustness Resists Friction Linear programming
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
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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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