By Topic

Searching 3-D form-closure grasps in discrete domain

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Yun-Hui Liu ; Dept. of Autom. & Comput. Aided Eng., Chinese Univ. of Hong Kong, Shatin, China ; Miu-Ling Lam

A complete and efficient algorithm is proposed for searching form-closure grasps of n-hard fingers on 3-D objects represented by discrete points. Both frictional and frictionless cases are considered. This algorithm starts to search a form-closure grasp front a random grasp using an efficient local search procedure until encountering a local minimum. The local procedure is based on the powerful ray-shooting technique and searches 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 value, the algorithm decomposes the problem into sub-problems according to the existence conditions of form-closure grasps. A search tree whose root represents the original problem is employed to guide the searching process. The sub-problems are represented as children of the root node and the same procedure is recursively applied to the children. Theoretical analysis has been conducted on completeness and computational complexity of the algorithm. The efficiency of this algorithm is demonstrated by numerical examples.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

27-31 Oct. 2003