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Optimal independent contact regions for two-fingered grasping of polygon

Published online by Cambridge University Press:  05 October 2011

Thanathorn Phoka ,
Pawin Vongmasa ,
Chaichana Nilwatchararang ,
Peam Pipattanasomporn  and
Attawith Sudsang
Thanathorn Phoka
Affiliation:
Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, 10330, Thailand
Pawin Vongmasa
Affiliation:
Institute for Computational and Mathematical Engineering, Stanford University, CA 94305, USA
Chaichana Nilwatchararang
Affiliation:
Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, 10330, Thailand
Peam Pipattanasomporn
Affiliation:
Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, 10330, Thailand
Attawith Sudsang*
Affiliation:
Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, 10330, Thailand
*
*Corresponding author. E-mail: [email protected]
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Summary

As every real mechanical hand has a limited accuracy, the grasp planning process must be prepared to cope with unavoidable positioning errors. The concept of independent contact regions (ICRs) was proposed to deal with this issue by computing for each finger an ICR on the object's boundary such that each finger can be placed anywhere in its ICR to guarantee a force closure grasp. Existing methods for computing ICRs of a polygon requires that each ICR must lie on a single edge of the polygon. This constraint severely limits the size of computed ICRs, especially when the input polygon contains only small edges (e.g., when the polygon is used for representing a curve object). This paper proposes a method for computing the optimal ICRs for frictional two-fingered grasp of a polygon such that each ICR is allowed to extend across consecutive edges of the polygon. The time complexity of the method is O(n2log n), where n is the number of edges of the polygon. Implementation results using several test polygons are presented to exhibit effectiveness of the method.

Keywords

Grasp planningForce closure graspTwo-fingered graspIndependent contact regions
Type
Articles
Information
Robotica , Volume 30 , Issue 6 , October 2012 , pp. 879 - 889
Copyright
Copyright © Cambridge University Press 2011

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