A complete and efficient algorithm for searching 3-D form-closure grasps in the discrete domain

A complete and efficient algorithm is proposed for searching form-closure grasps of n hard fingers on the surface of a three-dimensional object represented by discrete points. Both frictional and frictionless cases are considered. This algorithm starts to search a form-closure grasp from a randomly...

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Vydáno v:IEEE transactions on robotics Ročník 20; číslo 5; s. 805 - 816
Hlavní autoři: Yun-Hui Liu, Miu-Ling Lam, Ding, D.
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York, NY IEEE 01.10.2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Algorithms
Applied sciences
Automation
Children
Computer science education
Computer science; control theory; systems
Control theory. Systems
Councils
Educational programs
Educational technology
Exact sciences and technology
Fingers
Fixtures
Heuristic algorithms
Hulls
Hulls (structures)
Intelligent robots
Robotics
Robots
Roots
Searching
Testing
Trees
Gripping
Local search
Convex hull
Heuristic method
Grasp reflex
Minimal distance
Search tree
Three dimensional shape
Screw theory
Robotics
Search algorithm
ISSN:1552-3098, 1941-0468
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Shrnutí:A complete and efficient algorithm is proposed for searching form-closure grasps of n hard fingers on the surface of a three-dimensional object represented by discrete points. Both frictional and frictionless cases are considered. This algorithm starts to search a form-closure grasp from a randomly selected grasp using an efficient local search procedure until encountering a local minimum. The local search procedure employs the powerful ray-shooting technique to search in the direction of reducing the distance between the convex hull corresponding to the grasp and the origin of the wrench space. When the distance reaches a local minimum in the local search procedure, the algorithm decomposes the problem into a few subproblems in subsets of the points according to the existence conditions of form-closure grasps. A search tree whose root represents the original problem is employed to perform the searching process. The subproblems are represented as children of the root node and the same procedure is recursively applied to the children. It is proved that the search tree generates O(KlnK/n) nodes in case a from-closure grasp exists, where K is the number of the local minimum points of the distance in the grasp space and n is the number of fingers. Compared to the exhaustive search, this algorithm is more efficient, and, compared to other heuristic algorithms, the proposed algorithm is complete in the discrete domain. The efficiency of this algorithm is demonstrated by numerical examples.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.829500