Please use this identifier to cite or link to this item: https://doi.org/10.1109/ROBOT.2009.5152184
Title: A numerical solution to the ray-shooting problem and its applications in robotic grasping
Authors: Zheng, Y. 
Chew, C.-M. 
Keywords: Contact force optimization
Distance algorithm
Force-closure
Grasp quality evaluation
Ray-shooting
Issue Date: 2009
Source: Zheng, Y., Chew, C.-M. (2009). A numerical solution to the ray-shooting problem and its applications in robotic grasping. Proceedings - IEEE International Conference on Robotics and Automation : 2080-2085. ScholarBank@NUS Repository. https://doi.org/10.1109/ROBOT.2009.5152184
Abstract: Based on the distance algorithm by Gilbert et al., this paper presents a numerical algorithm for computing the intersection of the boundary of a compact convex set with a ray emanating from an interior point of the set, which is known as the ray-shooting problem. Affinely independent points on the boundary of the convex set are also determined such that the intersection point can be written as their convex combination. Because of its high efficiency and other good qualities, this algorithm provides superior solutions to three fundamental problems in robotic grasping, i.e., force-closure test, contact force optimization, and grasp quality evaluation, which can beformulated as the ray-shooting problem. © 2009 IEEE.
Source Title: Proceedings - IEEE International Conference on Robotics and Automation
URI: http://scholarbank.nus.edu.sg/handle/10635/73078
ISBN: 9781424427895
ISSN: 10504729
DOI: 10.1109/ROBOT.2009.5152184
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