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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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 20; no. 5; pp. 805 - 816
Main Authors:	Yun-Hui Liu, Miu-Ling Lam, Ding, D.
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.10.2004 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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
Online Access:	Get full text
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