A new approach on dynamic analysis and control synthesis of object grasping by manipulators
MOAS'07 Proceedings of the 18th conference on Proceedings of the 18th IASTED International Conference: modelling and simulation
Finding locally optimum force-closure grasps
Robotics and Computer-Integrated Manufacturing
Computation of independent contact regions for grasping3-D objects
IEEE Transactions on Robotics
A new approach on dynamic analysis and control synthesis of object grasping by manipulators
MS '07 The 18th IASTED International Conference on Modelling and Simulation
A numerical solution to the ray-shooting problem and its applications in robotic grasping
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Heuristic approach for multiple queries of 3D N-finger frictional force closure grasp
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A geometric approach to automated fixture layout design
Computer-Aided Design
Efficient simplex computation for fixture layout design
Proceedings of the 14th ACM Symposium on Solid and Physical Modeling
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
An overview of 3D object grasp synthesis algorithms
Robotics and Autonomous Systems
BADGr-A toolbox for box-based approximation, decomposition and GRasping
Robotics and Autonomous Systems
Efficient simplex computation for fixture layout design
Computer-Aided Design
Automated fixture configuration for rapid manufacturing planning
Computer-Aided Design
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A complete and efficient algorithm is proposed for searching form-closure grasps of n hard fingers on the surface of a three-dimensional object represented by discrete points. Both frictional and frictionless cases are considered. This algorithm starts to search a form-closure grasp from a randomly selected grasp using an efficient local search procedure until encountering a local minimum. The local search procedure employs the powerful ray-shooting technique to search in the direction of reducing the distance between the convex hull corresponding to the grasp and the origin of the wrench space. When the distance reaches a local minimum in the local search procedure, the algorithm decomposes the problem into a few subproblems in subsets of the points according to the existence conditions of form-closure grasps. A search tree whose root represents the original problem is employed to perform the searching process. The subproblems are represented as children of the root node and the same procedure is recursively applied to the children. It is proved that the search tree generates O(KlnK/n) nodes in case a from-closure grasp exists, where K is the number of the local minimum points of the distance in the grasp space and n is the number of fingers. Compared to the exhaustive search, this algorithm is more efficient, and, compared to other heuristic algorithms, the proposed algorithm is complete in the discrete domain. The efficiency of this algorithm is demonstrated by numerical examples.