J. Ponce, S. Sullivan, A. Sudsang, J.-D. Boissonnat, and J.-P. Merlet, "On computing four-finger equilibrium and force-closure grasps of polyhedral objects," International Journal of Robotics Research, vol. 16, no. 1, pp. 11--35, 1997.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....based on object response to squeezing and use these to plan motion to lift an object into a grasp, and Lynch [12] identifies regions where a contact point can be placed so that an object will be toppled by a moving fence. In the work closest to ours, Nguyen [14] Ponce and his colleagues [19] 18] [20] and Chen and Burdick [5] describe algorithms for computing independent contact regions for two to four fingered grasps so that as long as one contact can be placed within each region, a force closure grasp can be found. van der Stappen et al. 25] and Liu [11] describe how all force closure ....

....regions and object features. Computation times for the examples in this paper are on the order of milliseconds. However, sampling the object surface to find good contact regions will be more expensive for truly 3D objects. We are working on a projection algorithm along the lines of Ponce et al. [20] to address this problem. More complex manipulation tasks will almost certainly require more structure and extensions to the techniques presented here. Manipulation tasks with many contact transitions (e.g. remove a hand and place it somewhere else) may need to be segmented into subtasks. ....

J. Ponce, S. Sullivan, A. Sudsang, J.-D. Boissonnat, and J.-P. Merlet. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. International Journal of Robotics Research, 16(1):11--35, February 1997.

....al. in [6] and G omez, Hurtado and Toussaint in [21] consider the problem of computing nice orthographic projections of objects in 3 space, according to different criteria of niceness . The computation of shadows has been also studied by Chazelle, Edelsbrunner and Guibas in [9] Ponce et al. in [31, 32] and Amenta and Ziegler in [1] these papers contain also combinatorial results and pointers to many related works. Boissonnat in [5] Barequet and Sharir in [3] and Gitlin, O Rourke and Subramannian in [20] studied the problem of reconstructing polyhedra from parallel slices by interpolation, a ....

J. Ponce, S. Sullivan, A. Sudsang, J.D. Boissonnat and J.P. Merlet, On computing four-finger equilibrium and force-closure grasps of polyhedral objects, to appear in Int. Journal of Rob. Research, 1996.

.... contacts on given objects to achieve form closure have attracted much attention in the literature, due also to the relevance to the fixturing problem (see e.g. the early work of [47] and more recently [25, 86, 7, 45, 44, 95] Other literature on the synthesis of force closure grasps include [60, 63, 69, 70]. Based on the discussion thus far, the closure properties of a grasp depend on the locations of the contact points and the contact normals, but not on the shape of the object and the contacting effectors. This is because these closure properties depend on a first order kinematic analysis. If ....

Ponce, J., Sullivan, S., Sudsang, A., Boissonnat, J. D., and Merlet, J. P. : "On Computing Four--Finger Equilibrium and ForceClosure Grasps of Polyhedral Objects", Int. J. Robotics Research, vol. 16, no. 1, pp. 11--35, 1997.

....available for their solutions. We perform simulation studies to show the simplicity and efficiency of the LMI formulation to the three problems. 1 Introduction Grasping and manipulation by multifingered robotic hands have been active areas of research in robotics over the last two decades, see [8, 9, 12, 13, 14, 17, 18, 19, 20, 21] and references therein for further details. Three important problems in the study of grasping and multifingered manipulation are: a) Given a grasp which is characterized by a set of contact This work was supported by NSF under grant number IIS9619850, the Texas Higher Education Coordinating ....

....for the simplified frictionless models [13] While simplifying the analysis, ignoring friction forces, however, leads to grasps with seven or more contacts. Such contacts make control more difficult and require a mechanically complex hands. As for frictional grasps, the force closure theorems [17, 20] have been expressed in geometric terms such as antipodal positions and specialized for the grasps characterized by the number of contact points and the associated contact models. The problem of grasping force optimization [6, 9] has mainly been studied by linearizing the friction cone ....

J. Ponce, S. Sullivan, and A. Sudsang. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. IJRR, 16(1), 1997.

....worst case exponential time algorithm searches the space of possible sequences and fixtures. Improvements in these areas will require careful representation and integration of the various geometric constraints. Grasping Grasping and gripper design for single parts has been well studied (see e.g. [15, 34, 36, 41]) When applied in an assembly context, two important open problems arise: grasping sets of parts, and grasping sequences of parts. The former problem is closely related to fixture design for a static assembly. For the second problem, consider a single lowvolume assembly robot that must assemble ....

J. Ponce, S. Sullivan, A. Sudsand, J.-D. Boissonnat, and J.-P. Merlet. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. Intl. J. of Robotics Research, 1997. To appear.

....al. in [6] and G omez, Hurtado and Toussaint in [20] consider the problem of computing nice orthographic projections of objects in 3 space, according to different criteria of niceness . The computation of shadows has been also studied by Chazelle, Edelsbrunner and Guibas in [9] Ponce et al. in [30, 31] and Amenta and Ziegler in [1] these papers contain also combinatorial results and pointers to many related works. Boissonnat in [5] Barequet and Sharir in [3] and Gitlin, O Rourke and Subramannian in [19] studied the problem of reconstructing polyhedra from parallel slices by interpolation, a ....

J. Ponce, S. Sullivan, A. Sudsang, J.D. Boissonnat and J.P. Merlet, On computing four-finger equilibrium and force-closure grasps of polyhedral objects, to appear in Int. Journal of Rob. Research, 1996.

....segments of the polygonal boundary where the two fingers can be positioned independently while maintaining force closure, requiring as little positional accuracy from the robot as possible. This approach has been generalized to handle various numbers of fingers and different object geometries in [4, 7, 42, 44, 45, 46] Although robotic grasping and fixture planning are related (in both cases, the object grasped of fixtured must, after all, be held securely) their functional requirements are not the same: as remarked by Chou, Chandru, and Barash [8] machining a part requires much better positional accuracy ....

.... defined by (5) and (6) onto the plane (u i ; v i ) Several algorithms can be used to perform this projection, including Fourier s method [15] the convex hull and extreme point approaches of Lassez and Lassez [26, 25] and the Gaussian elimination and contour tracking techniques of Ponce et al. [46]. For faces with a bounded number of edges, all of these algorithms run in constant time, and they can be used to construct sub faces that can be passed as input to the rest of the algorithm. Enumerating Locator Configurations An exhaustive search of all possible grid coordinates would be ....

[Article contains additional citation context not shown here]

J. Ponce, S. Sullivan, A. Sudsang, J-D. Boissonnat, and J-P. Merlet. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. International Journal of Robotics Research, 1995. In press. Also Beckman Institute Tech. Report UIUC-BI-AI-RCV-95-04, University of Illinois at Urbana-Champaign.

.... defined by (3) and (4) onto the plane (u i ; v i ) Several algorithms can be used to perform this projection, including Fourier s method [7] the convex hull and extreme point approaches of Lassez and Lassez [9] and the Gaussian elimination and contour tracking techniques of Ponce et al. [17]. For faces with a bounded number of edges, all of these algorithms run in constant time, and they can be used to construct sub faces that can be passed as input to the rest of the algorithm. 3.2 Enumerating Locator Configurations An exhaustive search of all possible grid coordinates would be ....

J. Ponce, S. Sullivan, A. Sudsang, J-D. Boissonnat, and J-P. Merlet. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. Int. J. Rob. Res., 1996. In press. Also Beckman Institute Tech. Report UIUC-BI-AI-RCV-95-04.

....of the polygonal boundary where the two fingers can be positioned independently while maintaining force closure, requiring 2 as little positional accuracy from the robot as possible. This approach has been generalized to handle various numbers of fingers and different object geometries in [3, 7, 27, 29, 30, 31] Recently, Rimon and Burdick have introduced the notion of second order immobility [36, 37, 38] and shown that certain equilibrium grasps (or fixtures) of a part which do not achieve form closure effectively prevent any finite motion of this part through curvature effects in configuration space. ....

....whether the five dimensional polytope defined by these constraints and the face bounds inequalities and i 0 is empty. When this polytope is not empty, the subset of each face that may participate in an equilibrium configuration is efficiently determined using polytope projection techniques [11, 16, 15, 31] (see [45, 44] for details) The second step of our algorithm uses distance constraints to reduce the enumeration of the pin positions that may yield equilibrium grasps to the scan line conversion of circular shells (see [4, 5, 47, 48] for related approaches to fixture planning for ....

J. Ponce, S. Sullivan, A. Sudsang, J-D. Boissonnat, and J-P. Merlet. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. International Journal of Robotics Research, 16(1):11--35, February 1997.

....segments of the polygonal boundary where the two fingers can be positioned independently while maintaining force closure, requiring as little positional accuracy from the robot as possible. This approach has been generalized to handle various numbers of fingers and different object geometries in [3, 8, 35, 37, 38, 39] Robotic grasping and fixture planning are related problems (in both cases, the object grasped 3 of fixtured must, after all, be held securely) but their functional requirements are not the same: as remarked by Chou, Chandru, and Barash [9] machining a part requires much better positional ....

....case, it will not escape either when friction is present. Similar conservative approximations are common in grasping and fixture design: for example, hard finger contact is often assumed in grasp planning because it simplifies the construction of form force closure 7 grasps (see, for example, [32, 39]) even though most robot hands are equipped with rubber fingertips that would be more accurately modeled by soft contacts. Likewise, friction is usually neglected in fixture design: this approximation simplifies the design process (allowing the use of the 3:2:1 fixturing principle for example ....

[Article contains additional citation context not shown here]

J. Ponce, S. Sullivan, A. Sudsang, J-D. Boissonnat, and J-P. Merlet. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. International Journal of Robotics Research, 16(1):11--35, February 1997.

....segments of the polygonal boundary where the two fingers can be positioned independently while maintaining force closure, requiring as little positional accuracy from the robot as possible. This approach has been generalized to handle various numbers of fingers and different object geometries in [4, 7, 42, 44, 45, 46] Although robotic grasping and fixture planning are related (in both cases, the object grasped of fixtured must, after all, be held securely) their functional requirements are not the same: as remarked by Chou, Chandru, and Barash [8] machining a part requires much better positional accuracy ....

.... defined by (5) and (6) onto the plane (u i ; v i ) Several algorithms can be used to perform this projection, including Fourier s method [15] the convex hull and extreme point approaches of Lassez and Lassez [26, 25] and the Gaussian elimination and contour tracking techniques of Ponce et al. [46]. For faces with a bounded number of edges, all of these algorithms run in constant time, and they can be used to construct sub faces that can be passed as input to the rest of the algorithm. Enumerating Locator Configurations An exhaustive search of all possible grid coordinates would be ....

[Article contains additional citation context not shown here]

J. Ponce, S. Sullivan, A. Sudsang, J-D. Boissonnat, and J-P. Merlet. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. International Journal of Robotics Research, 1995. In press. Also Beckman Institute Tech. Report UIUC-BI-AI-RCV-95-04, University of Illinois at Urbana-Champaign.

....to hold the object securely, it should also be capable of preventing any motion due to external forces and torques. This is captured by the dual notions of form and force closure from screw theory [6, 13, 18] that constitute the traditional theoretical basis for grasp planning (see, for example, [8, 10, 11, 12, 17]) Recently, Rimon and Burdick have introduced the notion of second order immobility [20] and shown that certain equilibrium grasps of a part which do not achieve form closure effectively prevent any finite motion of this part through curvature effects in configuration space. Algorithms for ....

J. Ponce, S. Sullivan, A. Sudsang, J-D. Boissonnat, and J-P. Merlet. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. International Journal of Robotics Research, 16(1):11-- 35, February 1997.

....segments of the polygonal boundary where the two fingers can be positioned independently while maintaining force closure, requiring as little positional accuracy from the robot as possible. This approach has been generalized to handle various numbers of fingers and different object geometries in [1, 5, 22, 24, 25, 26]. Robotic grasping and fixture planning are related problems (in both cases, the object grasped of fixtured must, after all, be held securely) but their functional requirements are not the same: as remarked by Chou, Chandru, and Barash [6] machining a part requires much better positional ....

.... the polytope defined onto the plane (u i ; v i ) Several algorithms can be used to perform this projection, including Fourier s method [9] the convex hull and extreme point approaches of Lassez and Lassez [13, 12] and the Gaussian elimination and contour tracking techniques of Ponce et al. [26]. For faces with a bounded number of edges, all of these algorithms run in constant time, and they can be used to construct subsets of the original faces that are then passed as input to the rest of the algorithm. This projection process affords an early pruning of gripper configurations that ....

J. Ponce, S. Sullivan, A. Sudsang, J-D. Boissonnat, and J-P. Merlet. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. International Journal of Robotics Research, 16(1), 1997. In press.

.... defined by (3) and (4) onto the plane (u i ; v i ) Several algorithms can be used to perform this projection, including Fourier s method [7] the convex hull and extreme point approaches of Lassez and Lassez [9] and the Gaussian elimination and contour tracking techniques of Ponce et al. [17]. For faces with a bounded number of edges, all of these algorithms run in constant time, and they can be used to construct sub faces that can be passed as input to the rest of the algorithm. 3.2 Enumerating Locator Configurations An exhaustive search of all possible grid coordinates would be ....

J. Ponce, S. Sullivan, A. Sudsang, J-D. Boissonnat, and J-P. Merlet. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. Int. J. Rob. Res., 1996. In press. Also Beckman Institute Tech. Report UIUC-BI-AI-RCV-95-04.

No context found.

J. Ponce, S. Sullivan, A. Sudsang, J.-D. Boissonnat, and J.-P. Merlet, "On computing four-finger equilibrium and force-closure grasps of polyhedral objects," International Journal of Robotics Research, vol. 16, no. 1, pp. 11--35, 1997.

No context found.

Ponce, J., Sullivan, S., Sudsang, A., Boissonnat, J.-D., and Merlet, J.-P. 1997. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. International Journal of Robotics Research 16(1):11--35.

No context found.

J. Ponce, S. Sullivan, A. Sudsang, J.-D. Boissonnat, and J.-P. Merlet, "On computing four-finger equilibrium and force-closure grasps of polyhedral objects," International Journal of Robotics Research, vol. 16, no. 1, pp. 11--35, 1997.

No context found.

J. Ponce, S. Sullivan, A. Sudsang, J. Boissonnat, and J. Merlet, "On computing four-finger equilibrium and force-closure of polyhedral objects," International Journal of Robotics Research, vol. 16, no. 1, pp. 11--35, 1997.

No context found.

Ponce, J., Sullivan, S., Sudsang, A., Boissonnat, J.D., and Merlet, J.P. On Computing Four--Finger Equilibrium and Force-Closure Grasps of Polyhedral Objects. Int. J. Robotics Research, vol. 16, no. 1, pp. 11--35, 1997.

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