New bounds on the number of frictionless fingers required to immobilize 2D objects

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.

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Book Section

Related URLs:

URL	URL Type	Description
https://doi.org/10.1109/ROBOT.1995.525373	DOI	Article

Additional Information:

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

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ID Code:

96342

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CaltechAUTHORS

Deposited By:

Tony Diaz

Deposited On:

13 Jun 2019 16:37

Last Modified:

16 Nov 2021 17:20

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