Thomas F. Allen

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Based on a novel contact-space formulation, this paper presents a new algorithm to find two-fingered caging grasps of planar polygonal objects. We show that the caging problem has several useful properties in contact space. First, the critical points of the cage representation in the hand's configuration space appear as critical points of an inter-finger(More)
Multi-finger caging offers a robust approach to grasping. This paper describes an algorithm to find caging formations of a 3D polyhedron for two point fingers using a lower-dimensional contact-space formulation. The paper shows that contact space has several useful properties. First, the critical points of the cage in the hand's configuration space are(More)
Multifinger caging offers a rigorous and robust object grasping approach. Focusing on two-finger caging, this paper describes an algorithm for finding all two-finger cage formations of planar polygonal objects based on contact-space formulation. The paper shows that two-finger cages have several useful properties in contact space. First, the critical points(More)
This paper studies cages of convex polygonal objects using three point fingers. The fingers are said to cage the object when it is impossible to move the object arbitrarily far from its initial placement without penetrating the fingers. We consider a three-parameter model of the relative position of the fingers, which gives complete generality for three(More)
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