Caging 2D bodies by 1-parameter two-fingered gripping systems
作者： E. Rimon , A. Blake
DOI: 10.1109/ROBOT.1996.506911
关键词: Single parameter 、 Classical mechanics 、 Mathematics 、 Representation (mathematics) 、 Robot 、 Object (grammar) 、 Set theory 、 Morse theory 、 Set (abstract data type) 、 GRASP 、 Control theory
摘要: This paper is concerned with the following caging problem. One wishes to surround an object B by a multi-fingered hand such that has some freedom move but still cannot escape "cage" formed fingers. The authors introduce new notion of set, which based on configuration-space representation free motions hand-system respect B. Using stratified Morse theory, show hand's configuration at cage broken corresponds frictionless equilibrium grasp. allows formulate technique for computing set 2-fingered whose opening controlled single parameter. generalizes 1-parameter gripping systems having higher number
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