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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.


Item Type:Book Section
Related URLs:
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https://doi.org/10.1109/ROBOT.1995.525373DOIArticle
Additional Information:© 1995 IEEE.
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:03 Oct 2019 21:21

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