NDLI: Local Force Closure

Content Provider	IEEE Xplore Digital Library
Author	Kruger, H. Rimon, E. van der Stappen, A.F.
Copyright Year	2012
Description	Author affiliation: Robot Motion Laboratory at the Faculty of Mechanical Engineering, Technion Israel Institute of Technology, Technion City, Haifa 3200, Israel (Rimon, E.) \|\| Department of Information and Computing Sciences, Utrecht University, PO Box 80.089, 3508TB, The Netherlands (Kruger, H.; van der Stappen, A.F.)
Abstract	We introduce the concept of Local Force Closure. We define a local force closure grasp as a grasp which is capable of resisting some given external wrench as well as (through local variation in contact wrenches) any wrench in some neighborhood of the given wrench, with grasp quality exceeding some given threshold. Local force closure is useful in applications where a grasp only needs to resist some given external wrench, rather than fully constraining object, but where there is some uncertainty regarding the exact external wrench that needs to be resisted, or where there is a possibility of having to cope with some (relatively small) unknown disturbance forces. We show that by allowing disc-shaped fingers in contact with convex vertices of a polygonal object, any given wrench can be resisted by just two frictionless fingers. For a given polygonal object with n vertices and an external wrench wext, we show how to find all pairs of features of P, that admit grasps capable of resisting w with grasp quality greater or equal to some threshold Q, in $O(n^{3/2+ε}$ + K) time, where K is the number of pairs in the output and ε is some arbitrarily small, positive constant. We then show how to adapt our algorithm to guarantee that the features reported, admit local force closure grasps.
Starting Page	4176
Ending Page	4182
File Size	409587
Page Count	7
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225091
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Resists Uncertainty Vectors Force measurement Algorithm design and analysis
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
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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