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- A. Frank van der Stappen, Chantal Wentink, Mark H. Overmars
- I. J. Robotics Res.
- 2000

We present the first algorithms for computing all placements of (frictionless) point fingers that put a polygonal part in form closure and all placements of point fingers that achieve second-order immobility of a polygonal part. Our algorithms run in O(n2+ + K) and O(n2 log2 n + K) time in the case of form closure and second-order immobility, respectively,… (More)

Manufacturing and assembly processes often require objects to be held in such a way that they can resist all external wrenches. The problem of " xture planning" is to compute, for a given object and a set of xturing elements, the set of placements of the xturing elements that constrain all nite and in nitesimal motions of the object (due to applied… (More)

- Mark H. Overmars, Anil S. Rao, Otfried Cheong, Chantal Wentink
- Symposium on Computational Geometry
- 1995

A familiar task in inclu.strial a~)l>lications is gras~jing an oljject to constrain its motions. ~V/Jen the external forces an(l torques acting on the ol]ject are uncertain or varying, form-cl[>sure grasl>s arei)referretl; tile.se are grasps that constrain allinfinitesima] and finite motion of the o/>ject. MUCL (d’~~revious work 0)] com]Jut ing… (More)

- Frank van der Stappen, Chantal Wentink, Mark H. Overmars
- 2000

We present the first algorithms for computing all placements of (frictionless) point fingers that put a polygonal part in form closure and all placements of point fingers that achieve second-order immobility of a polygonal part. Our algorithms run in O(n2+ + K) and O(n2 log2 n + K) time in the case of form closure and second-order immobility, respectively,… (More)

- Chantal Wentink, Otfried Cheong
- CCCG
- 1994

- Chantal Wentink, A. Frank van der Stappen, Mark H. Overmars
- Intelligent Robots
- 1996

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