Computing All Form-Closure Grasps of Rectilinear Polyhedra

Jae-Sook Cheong

ETRI (Electronics and Telecommunications Research Institute)

Abstract

Object immobilization is important to robot hand grasping and to many manufacturing processes.

A huge number of existing papers considered issues such as the analysis of grasps, the existence of immobilizing grasps for various classes of objects, and the synthesis of immobilizing grasps for two- and three-dimensional objects. However, no algorithm has been proposed to \emph{efficiently} enumerate \emph{all} form-closure grasps for any class of three-dimensional objects. As an initial step towards a general solution to this complex problem, we propose the first efficient algorithm for computing all form-closure grasps of a rectilinear polyhedron. Our approach is based on a decomposition of the original problem in the abstract six-dimensional wrench space into closely related subproblems in three-dimensional subspaces, and a