New bounds on the number of frictionless fingers required toimmobilize 2D objects
Rimon, E.
Burdick, J.W.
Dept. of Mech. Eng., Israel Inst. of Technol., Haifa;
This paper appears in: Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Publication Date: 21-27 May 1995
Volume: 1,
On page(s): 751-757 vol.1
Meeting Date: 05/21/1995 - 05/27/1995
Location: Nagoya, Japan
ISSN: 1050-4729
ISBN: 0-7803-1965-6
References Cited: 14
INSPEC Accession Number: 5085960
Digital Object Identifier: 10.1109/ROBOT.1995.525373
Current Version Published: 2002-08-06
Abstract
This paper develops new lower bounds on the number of frictionless
fingers or fixtures which are required to immobilize planar objects. We
study in detail the case of objects with smooth boundaries and polygonal
objects. Analogous results for the case of piecewise smooth objects
follow directly from the analysis presented herein. These results have
obvious applications to fixture planning and grasp planning, as we show
that it is possible to immobilize objects with fewer fingers than was
previously thought possible
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