New computational method for three-fingered force-closure test

This paper proposes an efficient implementation of a force-closure test for frictional three-finger grasps. The implementation is based on a condition that transforms force-closure testing into the problem of convex hull intersection in projective space. The proposed implementation further reduces t...

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Veröffentlicht in:	Robotica 2014-09, Vol.32 (6), p.867-887
Hauptverfasser:	Niparnan, Nattee, Phoka, Thanathorn, Suttasupa, Yuttana, Sudsang, Attawith
Format:	Artikel
Sprache:	eng
Schlagworte:	Computation Computational geometry Convexity Errors Floating point arithmetic Hulls (structures) Intersections Segments Transforms
Online-Zugang:	Volltext
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