Probabilistic algorithms for efficient grasping and fixturing
type: Item
instance of: scholarly article
title: Probabilistic algorithms for efficient grasping and fixturing
zbMATH Open document ID: 0993.93026
author: Yanyan Li
published in: Algorithmica
publication date: 2002-09-19T00:00:00Z
review text: Consider an idealized robot hand, consisting of several independently movable force-sensing fingers used to grasp a rigid object with a piecewise smooth boundary with \(n\) points where fingers can be placed. Algorithms are given for selecting a ``strong'' grasp with the least number of fingers using several measures of goodness. Furthermore, an approximation scheme is given that guarantees a grasp quality close to the overall optimal value where fingers are not restricted to preselected points. These problems can be represented by a collection of convex set covering problems where either the cover size is minimized or the scaling factor of an inscribed geometric object is maximized.
reviewed by: Kurt Marti
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 68T40
zbMATH DE Number: 1439705
zbMATH Keywords: robot hand
zbMATH Keywords: force-sensing fingers
zbMATH Keywords: grasp
zbMATH Keywords: convex set covering problems
MaRDI profile type: Publication
full work available at URL: s004539910017
OpenAlex ID: W95788498
DOI: 10.1007/S004539910017
description: scientific article; zbMATH DE number 1439705