Reachable Grasps on a Polygon: The Convex Rope Algorithm.

Abstract

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)

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 1985
Accession Number
ADA155913

Entities

People

  • A. C. Sanderson
  • M. A. Peshkin

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Cartesian Coordinates
  • Collision Avoidance
  • Collisions
  • Computational Complexity
  • Computations
  • Construction
  • Demographic Cohorts
  • Line Of Sight
  • Lists (Data Structures)
  • Motion Planning
  • Robotics
  • Robots
  • Security
  • Sequences
  • Three Dimensional
  • Two Dimensional

Readers

  • Electrical Engineering
  • Graph Algorithms and Convex Optimization.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Machine Learning Algorithms
  • Autonomy