{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,25]],"date-time":"2025-10-25T12:08:12Z","timestamp":1761394092237},"reference-count":34,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2011,10,5]],"date-time":"2011-10-05T00:00:00Z","timestamp":1317772800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2012,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>As every real mechanical hand has a limited accuracy, the grasp planning process must be prepared to cope with unavoidable positioning errors. The concept of independent contact regions (ICRs) was proposed to deal with this issue by computing for each finger an ICR on the object's boundary such that each finger can be placed anywhere in its ICR to guarantee a force closure grasp. Existing methods for computing ICRs of a polygon requires that each ICR must lie on a single edge of the polygon. This constraint severely limits the size of computed ICRs, especially when the input polygon contains only small edges (e.g., when the polygon is used for representing a curve object). This paper proposes a method for computing the optimal ICRs for frictional two-fingered grasp of a polygon such that each ICR is allowed to extend across consecutive edges of the polygon. The time complexity of the method is <jats:italic>O<\/jats:italic>(<jats:italic>n<\/jats:italic><jats:sup>2<\/jats:sup>log <jats:italic>n<\/jats:italic>), where <jats:italic>n<\/jats:italic> is the number of edges of the polygon. Implementation results using several test polygons are presented to exhibit effectiveness of the method.<\/jats:p>","DOI":"10.1017\/s0263574711001044","type":"journal-article","created":{"date-parts":[[2011,10,5]],"date-time":"2011-10-05T09:49:54Z","timestamp":1317808194000},"page":"879-889","source":"Crossref","is-referenced-by-count":1,"title":["Optimal independent contact regions for two-fingered grasping of polygon"],"prefix":"10.1017","volume":"30","author":[{"given":"Thanathorn","family":"Phoka","sequence":"first","affiliation":[]},{"given":"Pawin","family":"Vongmasa","sequence":"additional","affiliation":[]},{"given":"Chaichana","family":"Nilwatchararang","sequence":"additional","affiliation":[]},{"given":"Peam","family":"Pipattanasomporn","sequence":"additional","affiliation":[]},{"given":"Attawith","family":"Sudsang","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2011,10,5]]},"reference":[{"key":"S0263574711001044_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2004.840061"},{"key":"S0263574711001044_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/70.508445"},{"key":"S0263574711001044_ref17","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Cornell\u00e1","year":"2005"},{"key":"S0263574711001044_ref33","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Speth","year":"2008"},{"key":"S0263574711001044_ref29","doi-asserted-by":"publisher","DOI":"10.1007\/s00453-005-1202-x"},{"key":"S0263574711001044_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/70.478433"},{"key":"S0263574711001044_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/70.246063"},{"key":"S0263574711001044_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2020351"},{"key":"S0263574711001044_ref12","first-page":"1811","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Felip","year":"2009"},{"key":"S0263574711001044_ref10","first-page":"1557","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Christopoulos","year":"2007"},{"key":"S0263574711001044_ref32","volume-title":"Curve and Surface Reconstruction","author":"Dey","year":"2007"},{"key":"S0263574711001044_ref27","doi-asserted-by":"publisher","DOI":"10.1177\/027836499301200305"},{"key":"S0263574711001044_ref8","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700101"},{"key":"S0263574711001044_ref25","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400503"},{"key":"S0263574711001044_ref1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400402"},{"key":"S0263574711001044_ref2","first-page":"341","volume-title":"Proceedings of the 20th ACM Symposium on Theory of Computing","author":"Kirkpatrick","year":"1990"},{"key":"S0263574711001044_ref31","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-03427-9"},{"key":"S0263574711001044_ref34","first-page":"1710","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Goldfeder","year":"2009"},{"key":"S0263574711001044_ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905049469"},{"key":"S0263574711001044_ref13","first-page":"2326","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Kim","year":"2009"},{"key":"S0263574711001044_ref3","first-page":"2290","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Ferrari","year":"1992"},{"key":"S0263574711001044_ref4","unstructured":"4. Mirtich B. and Canny J. , \u201cOptimum Force-Closure Grasps,\u201d Technical Report ESRC 93-11\/RAMP 93-5 (Robotics, Automation and Manufacturing Program, University of California at Berkeley 1993)."},{"key":"S0263574711001044_ref5","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Borst","year":"2003"},{"key":"S0263574711001044_ref26","first-page":"825","article-title":"Computation on parametric curves with an application in grasping","volume":"13","author":"Jia","year":"2004","journal-title":"Int. J. Robot. 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