Reachable Grasps on a Polygon: The Convex Rope Algorithm.
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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This document describes an algorithm which finds the externally visible vertices of a polygon, and which generates the clockwise and counter-clockwise convex ropes of each one. The convex ropes give the range of angles from which each vertex is visible, and give all the pairs of vertices which are reachable by a straight robotic finger. All of the convex ropes can be found in expected time order n, where n is the number of vertices of the polygon the application of this geometric construction to automated grasp planning is discussed. The computational complexity of the grasp selection process can be substantially reduced by its use. Author
- Theoretical Mathematics