NDLI: Partial closure grasps: Metrics and computation

Content Provider	IEEE Xplore Digital Library
Author	Kruger, H. van der Stappen, A.F.
Copyright Year	2011
Description	Author affiliation: Department of Information and Computing Sciences, Utrecht University, PO Box 80.089, 3508TB, The Netherlands (Kruger, H.; van der Stappen, A.F.)
Abstract	We extend the notion of grasp metrics to partial force-closure grasps. We describe two metrics which measure the maximum and sum, respectively, of the forces that need to be applied at the contacts involved in a grasp, in order to exert some given unit wrench on the grasped object. For a given object P of complexity O(n) and a pure force T, we describe efficient algorithms which compute all combinations of m features (edges of polygons or facets of polyhedra) that admit grasps capable of exerting T such that the value of our metric is greater than some threshold. In particular, we show that if P is a polygon, all pairs of edges that admit frictionless two-finger grasps capable of exerting T can be computed in O(n $log^{2}$ n+K) time, where K is the number of pairs of edges in the output. Also, all two-finger grasps with friction of a polyhedral object can be computed in $O(n^{3/2+ε}$ + K′) time and all frictionless three-finger grasps of a polyhedron can be computed in $O(n^{5/2+ε}$ + K′) time, where $K^{0}$ is the number of pairs or triples of facets that satisfy some slightly weaker condition and ε is some arbitrarily small, positive constant.
Starting Page	5024
Ending Page	5030
File Size	256121
Page Count	7
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980171
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Force measurement Friction Ellipsoids Computational modeling Resists
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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