Two-finger caging of concave polygon

  title={Two-finger caging of concave polygon},
  author={Peam Pipattanasomporn and Attawith Sudsang},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
An object is captured by a set of fingers when there exists no trajectory to bring the object arbitrarily far from the fingers. Object concavity is a special geometric property that allows objects to be captured with only few fingers. In particular, certain concave objects may be captured by appropriately placing two fingers close to some pair of opposite concave sections. This paper addresses the problem of computing all configurations of the fingers that are farthest away from each other… CONTINUE READING
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Two-finger caging of concave polygon

  • Peam Pipattanasomporn, Attawith Sudsang
  • In Proceeding of IEEE International Conference on…
  • 2006
1 Excerpt