Automatic grasp planning in the presence of uncertainty
International Journal of Robotics Research
Constructing force-closure grasps
International Journal of Robotics Research
Quantitative Steinitz's theorems with applications to multifingered grasping
STOC '90 Proceedings of the twenty-second annual ACM symposium on Theory of computing
On the closure properties of robotic grasping
International Journal of Robotics Research
A symmetry theory of planar grasp
International Journal of Robotics Research - Special issue on integration among planning, sensing, and control
Computational geometry: algorithms and applications
Computational geometry: algorithms and applications
Coping with the Grasping Uncertainties in Force-closure Analysis
International Journal of Robotics Research
Curve and Surface Reconstruction: Algorithms with Mathematical Analysis (Cambridge Monographs on Applied and Computational Mathematics)
Computation of independent contact regions for grasping3-D objects
IEEE Transactions on Robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Eye-in-hand stereo visual servoing of an assistive robot arm in unstructured environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Robust sensor-based grasp primitive for a three-finger robot hand
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Visual quality measures for Characterizing Planar robot grasps
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Vision-Based Grasp Tracking for Planar Objects
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
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As every real mechanical hand has a limited accuracy, the grasp planning process must be prepared to cope with unavoidable positioning errors. The concept of independent contact regions (ICRs) was proposed to deal with this issue by computing for each finger an ICR on the object's boundary such that each finger can be placed anywhere in its ICR to guarantee a force closure grasp. Existing methods for computing ICRs of a polygon requires that each ICR must lie on a single edge of the polygon. This constraint severely limits the size of computed ICRs, especially when the input polygon contains only small edges (e.g., when the polygon is used for representing a curve object). This paper proposes a method for computing the optimal ICRs for frictional two-fingered grasp of a polygon such that each ICR is allowed to extend across consecutive edges of the polygon. The time complexity of the method is O(n2log n), where n is the number of edges of the polygon. Implementation results using several test polygons are presented to exhibit effectiveness of the method.