Heuristic approach for multiple queries of 3D N-finger frictional force closure grasp

Authors:
Nattee Niparnan;Thanathorn Phoka;Attawith Sudsang
Affiliations:
Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, Thailand;Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, Thailand;Department of Computer Engineering, Faculty of Engineering, Chulalongkorn University, Thailand
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 6
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Abstract

This work proposes a necessary condition for nfinger force closure grasp which considers true quadratic force cone without linearization. The condition finds its use as a heuristic for multiple queries force closure test. The heuristic works as a filtering criteria which improves the overall running time of the entire set of queries. An empirical example shows that our approach could speed up the force closure test be the factor of four. This work improves our earlier works [1], [2] to cover the case of n-finger grasp.