Computing n-Finger Form-Closure Grasps on Polygonal Objects

Abstract

This paper presents an efficient algorithm for computing all n-finger form-closure grasps on a polygonal object based on a new sufficient and necessary condition for form-closure. With this new condition, it is possible to transfer the problem of computing the form-closure grasp in R 3 to one in R 1. We demonstrate that the non-form-closure grasps consist of two convex polytopes in the space of n parameters representing grasp points on sides of the polygon. The proposed algorithm works efficiently for n ≤ 3 and takes O(n 3n/2) time for n > 3, where n denotes the number of the fingers. The algorithm has been implemented and its efficiency has been confirmed with two examples.

An overview of 3D object grasp synthesis algorithms

“…In the following, we review these two approaches applied to 3D object grasp synthesis. The reader should notice that many algorithms have been developed for 2D object grasp planning [14,15], but 3D object grasp synthesis still an active research area due to the high dimensional grasp space and object complex geometry.…”

Analysis of fixturing quality for a variable number of fixturing points and friction values

“…See [3] for a review of these factors. These different cases are addressed in several relevant works, considering, for instance, 2D polygonal objects [4], 2D non-polygonal objects [5], 2D discrete objects [6], 3D polyhedral objects [7], [8], 3D non-polygonal objects [9], [10], and 3D discrete objects [11]- [13].…”

Determining Force-Closure Grasps Reachable by a Given Hand

“…when only the fingertips touch the object) for 2D (Liu, 2000;Niparnan and Sudsang, 2006;Cornellà and Suárez, 2009) and 3D objects (Ponce et al, 1997;Zhu and Wang, 2003;Roa and Suárez, 2009b). On another hand, in order to provide robustness to the grasp in front of finger positioning errors, the concept of set of independent contact regions (ICRS) on the object boundary was introduced (Nguyen, 1988).…”