On computing immobilizing grasps of 3-D curved objects

Dan Ding Yun Hui Liu; Michael Yu Wang

doi:10.1109/CIRA.2001.1013165

On computing immobilizing grasps of 3-D curved objects

Dan Ding Yun Hui Liu, Michael Yu Wang

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

15 Citations (Scopus)

Abstract

In this paper we propose an algorithm for searching a form-closure grasp on a 3-D dis-cretized curved object. The algorithm first randomly selects an initial set of seven contacts from the large collection of candidate contacts and check its form-closure property by the test algorithm developed in our early work. For the non-form-closure grasp, the candidate contacts are classified into set S where the contact wrenches lie on the same side of the separating facet as the initial wrenches and set D where the contact wrenches he on the different side. The separating facet can be calculated through the test algorithm. Then the initial seven contacts are iteratively improved by exchanging with the candidate contacts in set D. The best-first motion together with the random motion are used in the exchange procedure to ensure the convex hull of the seven contact wrenches will approach the origin step by step until the origin is completely contained. Finally, the algorithm has been implemented and its efficiency has been ascertained by three examples.

Original language	English
Title of host publication	Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publication	Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001
Editors	Hong Zhang, Peter Xiaoping Liu
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	11-16
Number of pages	6
ISBN (Electronic)	0780372034
DOIs	https://doi.org/10.1109/CIRA.2001.1013165
Publication status	Published - 2001
Externally published	Yes
Event	IEEE International Symposium on Computational Intelligence in Robotics and Automation 2001 - Banff, Canada Duration: 29 Jul 2001 → 1 Aug 2001 https://ieeexplore.ieee.org/xpl/conhome/7913/proceeding (Proceedings)

Publication series

Name	Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume	2001-January

Conference

Conference	IEEE International Symposium on Computational Intelligence in Robotics and Automation 2001
Abbreviated title	CIRA 2001
Country/Territory	Canada
City	Banff
Period	29/07/01 → 1/08/01
Internet address	https://ieeexplore.ieee.org/xpl/conhome/7913/proceeding (Proceedings)

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10.1109/CIRA.2001.1013165

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Liu, D. D. Y. H., & Wang, M. Y. (2001). On computing immobilizing grasps of 3-D curved objects. In H. Zhang, & P. X. Liu (Eds.), Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001 (pp. 11-16). (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 2001-January). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CIRA.2001.1013165

Liu, Dan Ding Yun Hui ; Wang, Michael Yu. / On computing immobilizing grasps of 3-D curved objects. Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. editor / Hong Zhang ; Peter Xiaoping Liu. IEEE, Institute of Electrical and Electronics Engineers, 2001. pp. 11-16 (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA).

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title = "On computing immobilizing grasps of 3-D curved objects",

abstract = "In this paper we propose an algorithm for searching a form-closure grasp on a 3-D dis-cretized curved object. The algorithm first randomly selects an initial set of seven contacts from the large collection of candidate contacts and check its form-closure property by the test algorithm developed in our early work. For the non-form-closure grasp, the candidate contacts are classified into set S where the contact wrenches lie on the same side of the separating facet as the initial wrenches and set D where the contact wrenches he on the different side. The separating facet can be calculated through the test algorithm. Then the initial seven contacts are iteratively improved by exchanging with the candidate contacts in set D. The best-first motion together with the random motion are used in the exchange procedure to ensure the convex hull of the seven contact wrenches will approach the origin step by step until the origin is completely contained. Finally, the algorithm has been implemented and its efficiency has been ascertained by three examples.",

author = "Liu, {Dan Ding Yun Hui} and Wang, {Michael Yu}",

note = "Publisher Copyright: {\textcopyright} 2001 IEEE.; IEEE International Symposium on Computational Intelligence in Robotics and Automation 2001, CIRA 2001 ; Conference date: 29-07-2001 Through 01-08-2001",

year = "2001",

doi = "10.1109/CIRA.2001.1013165",

language = "English",

series = "Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

pages = "11--16",

editor = "Hong Zhang and Liu, {Peter Xiaoping}",

booktitle = "Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation",

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Liu, DDYH & Wang, MY 2001, On computing immobilizing grasps of 3-D curved objects. in H Zhang & PX Liu (eds), Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA, vol. 2001-January, IEEE, Institute of Electrical and Electronics Engineers, pp. 11-16, IEEE International Symposium on Computational Intelligence in Robotics and Automation 2001, Banff, Canada, 29/07/01. https://doi.org/10.1109/CIRA.2001.1013165

On computing immobilizing grasps of 3-D curved objects. / Liu, Dan Ding Yun Hui; Wang, Michael Yu.
Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. ed. / Hong Zhang; Peter Xiaoping Liu. IEEE, Institute of Electrical and Electronics Engineers, 2001. p. 11-16 (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 2001-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

TY - GEN

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AU - Liu, Dan Ding Yun Hui

AU - Wang, Michael Yu

PY - 2001

Y1 - 2001

N2 - In this paper we propose an algorithm for searching a form-closure grasp on a 3-D dis-cretized curved object. The algorithm first randomly selects an initial set of seven contacts from the large collection of candidate contacts and check its form-closure property by the test algorithm developed in our early work. For the non-form-closure grasp, the candidate contacts are classified into set S where the contact wrenches lie on the same side of the separating facet as the initial wrenches and set D where the contact wrenches he on the different side. The separating facet can be calculated through the test algorithm. Then the initial seven contacts are iteratively improved by exchanging with the candidate contacts in set D. The best-first motion together with the random motion are used in the exchange procedure to ensure the convex hull of the seven contact wrenches will approach the origin step by step until the origin is completely contained. Finally, the algorithm has been implemented and its efficiency has been ascertained by three examples.

AB - In this paper we propose an algorithm for searching a form-closure grasp on a 3-D dis-cretized curved object. The algorithm first randomly selects an initial set of seven contacts from the large collection of candidate contacts and check its form-closure property by the test algorithm developed in our early work. For the non-form-closure grasp, the candidate contacts are classified into set S where the contact wrenches lie on the same side of the separating facet as the initial wrenches and set D where the contact wrenches he on the different side. The separating facet can be calculated through the test algorithm. Then the initial seven contacts are iteratively improved by exchanging with the candidate contacts in set D. The best-first motion together with the random motion are used in the exchange procedure to ensure the convex hull of the seven contact wrenches will approach the origin step by step until the origin is completely contained. Finally, the algorithm has been implemented and its efficiency has been ascertained by three examples.

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Liu DDYH, Wang MY. On computing immobilizing grasps of 3-D curved objects. In Zhang H, Liu PX, editors, Proceedings - 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Integrating Intelligent Machines with Humans for a Better Tomorrow, CIRA 2001. IEEE, Institute of Electrical and Electronics Engineers. 2001. p. 11-16. (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA). doi: 10.1109/CIRA.2001.1013165

On computing immobilizing grasps of 3-D curved objects

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