Computing Immobilizing Grasps of Polygonal Parts

We present the first algorithms for computing all placements of (frictionless) point fingers that put a polygonal part in form closure and all placements of point fingers that achieve second-order immobility of a polygonal part. Our algorithms run in O(n2+∈ +K) and O(n2 log2 n + K) time in the case...

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Bibliographic Details

Published in:	The International journal of robotics research Vol. 19; no. 5; pp. 467 - 479
Main Authors:	van der Stappen, A. Frank, Wentink, Chantal, Overmars, Mark H.
Format:	Journal Article
Language:	English
Published:	United States SAGE Publications 01-05-2000
Subjects:	ALGORITHMS ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION INDUSTRIAL PLANTS MATERIALS HANDLING MOTION ROBOTS SHAPE output-sensitive algorithms data structures geometry grasps
Online Access:	Get full text
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