A numerical solution to the ray-shooting problem and its applications in robotic grasping

Zheng, Yu; Chew, Chee-Meng

doi:10.1109/robot.2009.5152184

Cited by 7 publications

(7 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…3b). The computation of z k is known as the ray-shooting problem, for which several algorithms have been developed [14], [15], [12]. As illustrated in Fig.…”

Section: Algorithm 1 Algorithm For the Generalized Distance Computationmentioning

confidence: 99%

See 1 more Smart Citation

An efficient algorithm for the generalized distance measure

Zheng

Yamane

2013

2013 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

This paper presents an efficient algorithm for computing a distance measure between two compact convex sets Q and A, defined as the minimum scale factor such that the scaled Q is not disjoint from A. An important application of this algorithm in robotics is the computation of the minimum distance between two objects, which can be performed by taking A as the Minkowski difference of the objects and Q as a set containing the origin in its interior. In this generalized definition, the traditional Euclidean distance is a special case where Q is the unit ball. While this distance measure was proposed almost a decade ago, there has been no efficient algorithm to compute it in general cases. Our algorithm fills this void and we demonstrate its superior efficiency compared to approaches based on general-purpose optimization.

show abstract

“…3b). The computation of z k is known as the ray-shooting problem, for which several algorithms have been developed [14], [15], [12]. As illustrated in Fig.…”

Section: Algorithm 1 Algorithm For the Generalized Distance Computationmentioning

confidence: 99%

“…Similarly, the right side of (14) gives a point in σ k Q k . Therefore, (14) implies that the point p k in A(σ k ) ∩ σ k Q k used in (9) can be written as…”

Section: Algorithm 1 Algorithm For the Generalized Distance Computationmentioning

confidence: 99%

An efficient algorithm for the generalized distance measure

Zheng

Yamane

2013

2013 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

show abstract

“…Zhen et al [7] recently developed an optimization algorithm to calculate a set of initial and minimum forces more quickly than was possible in earlier calculations. In addition, Zhu et al [8][9][10][11][12][13] proposed a variety of linear optimization methods for the contact force to reduce the amount of calculation; these methods were studied in terms of simplification of the pointcontact friction cone, contact force optimization index, linear programming method, and real-time performance. While linear programming methods may be advantageous in terms of the computational efficiency, they may provide grasping forces that are too conservative or violate nonlinear friction constraints.…”

Section: Introductionmentioning

confidence: 99%

Grasping Torque Optimization for a Dexterous Robotic Hand Using the Linearization of Constraints

Jia

Lei

Wang

et al. 2019

Mathematical Problems in Engineering

View full text Add to dashboard Cite

A new algorithm is proposed for the optimization of grasping torques. Previous work revealed that the optimization of the contact force can be simplified as a linear programming problem by replacing the nonlinear friction cone with a polyhedral cone. On this basis, further simplification and linearization is completed for various grasp contact constraints of the grasping system, and an optimization model is established with the minimum sum-of-squares of joint torques as an objective function. A timely and effective algorithm based on key constraint sets is then established. This methodology optimizes the joint torque directly and facilitates the control of the dexterous hand. A numerical example and experimental results show that the optimization algorithm has high precision and good real-time performance. The joint torque output obtained using the proposed algorithm was 27.6% lower than the result of the previous algorithm. The optimization algorithm can thus be used for optimal grasping control of a dexterous hand.

show abstract

“…The best known force-closure condition states that a grasp achieves force closure when the convex hull of vectors describing exertable force-torque, called wrench, contains the origin. 11,12 As opposed to a general test, there exist specific tests that are applicable under some criteria. Tests that adopt this approach are usually general, being able to handle any number of contacts and dimensions.…”

Section: Introductionmentioning

confidence: 99%

“…Examples include the GJK algorithm, 9 a very fast collision checking algorithm which was recommended for force-closure testing, 10 and other algorithms that compute distance between a point and a convex object. 11,12 As opposed to a general test, there exist specific tests that are applicable under some criteria. For example, Nguyen proposes a simple test of force closure for two fingers in 2D.…”

Section: Introductionmentioning

confidence: 99%

New computational method for three-fingered force-closure test

et al. 2013

View full text Add to dashboard Cite

Link to this article: http://journals.cambridge.org/abstract_S0263574713001057 How to cite this article: Nattee Niparnan, Thanathorn Phoka, Yuttana Suttasupa and Attawith Sudsang (2014). New computational method for three-ngered force-closure test. Robotica, 32, pp 867-887 SUMMARYThis paper proposes an efficient implementation of a force-closure test for frictional three-finger grasps. The implementation is based on a condition that transforms force-closure testing into the problem of convex hull intersection in projective space. The proposed implementation further reduces the problem into the problem of computing whether a line segment intersects a convex hull of at most four points. Implementation results are presented along with a thorough performance analysis and comparison with several existing methods. The results are also verified with arbitrary precision floating point computation. This provides comparison of qualitative error resulting from floating point roundoff. The result shows that the proposed implementation outperforms other methods in terms of speed and precision.

show abstract

A numerical solution to the ray-shooting problem and its applications in robotic grasping

Cited by 7 publications

References 15 publications

An efficient algorithm for the generalized distance measure

An efficient algorithm for the generalized distance measure

Grasping Torque Optimization for a Dexterous Robotic Hand Using the Linearization of Constraints

New computational method for three-fingered force-closure test

Contact Info

Product

Resources

About