Analysis of motion and internal loading of objects grasped by multiple cooperating manipulators
International Journal of Robotics Research
A complete and efficient algorithm for searching 3-D form-closure grasps in the discrete domain
IEEE Transactions on Robotics
Application of the Antipodal Grasp Theorem to Cable-Driven Robots
IEEE Transactions on Robotics
Projection on convex set and its application in testing force closure properties of robotic grasping
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part II
A GJK-based approach to contact force feasibility and distribution for multi-contact robots
Robotics and Autonomous Systems
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Based on the distance algorithm by Gilbert et al., this paper presents a numerical algorithm for computing the intersection of the boundary of a compact convex set with a ray emanating from an interior point of the set, which is known as the ray-shooting problem. Affinely independent points on the boundary of the convex set are also determined such that the intersection point can be written as their convex combination. Because of its high efficiency and other good qualities, this algorithm provides superior solutions to three fundamental problems in robotic grasping, i.e., force-closure test, contact force optimization, and grasp quality evaluation, which can be formulated as the ray-shooting problem.