Chantal Wentink

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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)
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)
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)
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