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Simplification of the ray-shooting based algorithm for 3-D force-closure test

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2 Author(s)
Yu Zheng ; Robotics Inst., Shanghai Jiao Tong Univ., China ; Wen-Han Qian

This paper addresses a shortcut in the ray-shooting based algorithm proposed by Liu. His algorithm provides an efficient force-closure test of 3D frictional grasps, which is formulated as a linear programming (LP) problem. We prove that the optimal objective value of the LP formulation indicates the force-closure property of grasps directly. Thus computing Q, d1, and d2 can be omitted.

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Robotics, IEEE Transactions on  (Volume:21 ,  Issue: 3 )