Rimon, Elon and Burdick, Joel W. (1995) New bounds on the number of frictionless fingers required to immobilize 2D objects. In: Proceedings of 1995 IEEE International Conference on Robotics and Automation. Vol.1. IEEE , Piscataway, NJ, pp. 751-757. ISBN 0-7803-1965-6. https://resolver.caltech.edu/CaltechAUTHORS:20190612-145044049
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Abstract
This paper develops new lower bounds on the number of frictionless fingers or fixtures which are required to immobilize planar objects. We study in detail the case of objects with smooth boundaries and polygonal objects. Analogous results for the case of piecewise smooth objects follow directly from the analysis presented herein. These results have obvious applications to fixture planning and grasp planning, as we show that it is possible to immobilize objects with fewer fingers than was previously thought possible.
Item Type: | Book Section | ||||||
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Additional Information: | © 1995 IEEE. | ||||||
DOI: | 10.1109/ROBOT.1995.525373 | ||||||
Record Number: | CaltechAUTHORS:20190612-145044049 | ||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190612-145044049 | ||||||
Official Citation: | E. Rimon and J. W. Burdick, "New bounds on the number of frictionless fingers required to immobilize 2D objects," Proceedings of 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, pp. 751-757 vol.1. doi: 10.1109/ROBOT.1995.525373 | ||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
ID Code: | 96342 | ||||||
Collection: | CaltechAUTHORS | ||||||
Deposited By: | Tony Diaz | ||||||
Deposited On: | 13 Jun 2019 16:37 | ||||||
Last Modified: | 16 Nov 2021 17:20 |
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