Computation of 3-D form-closure grasps

Dan Ding;  Yun-Hui Lee;  Shuguo Wang

doi:10.1109/70.954765

Computation of 3-D form-closure grasps

IEEE Transactions on Robotics and Automation ◽

10.1109/70.954765 ◽

2001 ◽

Vol 17 (4) ◽

pp. 515-522 ◽

Cited By ~ 64

Author(s):

Dan Ding ◽

Yun-Hui Lee ◽

Shuguo Wang

Keyword(s):

Form Closure

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Joining of plastic‐metal hybrid components by overmoulding of specially designed form‐closure elements

Materialwissenschaft und Werkstofftechnik ◽

10.1002/mawe.202000158 ◽

2021 ◽

Vol 52 (4) ◽

pp. 367-378

Author(s):

S. Wurzbacher ◽

S. Gach ◽

U. Reisgen ◽

C. Hopmann

Keyword(s):

Plastic Metal ◽

Form Closure

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On computing form-closure grasps/fixtures for non-polygonal objects

(ISATP 2005). The 6th IEEE International Symposium on Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005. ◽

10.1109/isatp.2005.1511463 ◽

2006 ◽

Cited By ~ 8

Author(s):

J. Cornella ◽

R. Suarez

Keyword(s):

Form Closure

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Multi-Agent Form Closure Capture of a Generic 2D Polygonal Object Based on Projective Path Planning

Volume 3: 26th Computers and Information in Engineering Conference ◽

10.1115/detc2006-99335 ◽

2006 ◽

Cited By ~ 4

Author(s):

Pankaj Sharma ◽

Anupam Saxena ◽

Ashish Dutta

Keyword(s):

Path Planning ◽

Contact Point ◽

Point Contact ◽

Object Boundary ◽

Actual Object ◽

Contact Points ◽

Correct Orientation ◽

Novel Approach ◽

Form Closure ◽

Multi Agent

The study of multi-agent capture and manipulation of an object has been an area of active interest for many researchers. This paper presents a novel approach using Genetic Algorithm to determine the optimal contact points and the total number of agents (mobile robots) required to capture a stationary generic 2D polygonal object. After the goal points are determined the agents then reach their respective goals using a decentralized projective path planning algorithm. Form closure of the object is obtained using the concept of accessibility angle. The object boundary is first expanded and the robots reach the expanded object goal points and then converge on the actual object. This ensures that the agents reach the actual goal points at the same time and have the correct orientation. Frictionless point contact between the object and robots is assumed. The shape of the robot is considered a circle such that it can only apply force in outward radial direction from its center and along the normal to the object boundary at the contact point. Simulations results are presented that prove the effectiveness of the proposed method.

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