{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:36Z","timestamp":1777715736708,"version":"3.51.4"},"reference-count":25,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2000,2,1]],"date-time":"2000-02-01T00:00:00Z","timestamp":949363200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,2]]},"abstract":"<jats:p>\n                    This paper presents an efficient algorithm for computing all n-finger form-closure grasps on a polygonal object based on a new sufficient and necessary condition for form-closure. With this new condition, it is possible to transfer the problem of computing the form-closure grasp in R\n                    <jats:sup>3<\/jats:sup>\n                    to one in R\n                    <jats:sup>1<\/jats:sup>\n                    . We demonstrate that the non-form-closure grasps consist of two convex polytopes in the space of n parameters representing grasp points on sides of the polygon. The proposed algorithm works efficiently for n \u2264 3 and takes O(n\n                    <jats:sup>3n\/2<\/jats:sup>\n                    ) time for n &gt; 3, where n denotes the number of the fingers. The algorithm has been implemented and its efficiency has been confirmed with two examples.\n                  <\/jats:p>","DOI":"10.1177\/02783640022066798","type":"journal-article","created":{"date-parts":[[2004,12,17]],"date-time":"2004-12-17T20:23:10Z","timestamp":1103314990000},"page":"149-158","source":"Crossref","is-referenced-by-count":99,"title":["Computing n-Finger Form-Closure Grasps on Polygonal Objects"],"prefix":"10.1177","volume":"19","author":[{"given":"Yun-Hui","family":"Liu","sequence":"first","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese                         University of Hong Kong, Shatin, N.T., Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,2,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400402"},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"Chen, I.M., and Burdick, J. W. 1993 (May). 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Suboptimal algorithms for force distribution in multifingered grippers . Proc. IEEE Int. Conf. Robotics and Automation, Raleigh, NC, pp. 252\u2013257 .","DOI":"10.1109\/ROBOT.1987.1088015"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800402"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1109\/70.744611"},{"key":"atypb10","doi-asserted-by":"crossref","unstructured":"Maekawa, H., Komoriya, K., and Tanie, K. 1992 (July). Manipulation of an unknown object by multi-fingered hands with rolling contact using tactile feedback . Proc. IEEE Int. Conference on Intelligent Robots and Systems, Raleigh, NC, pp. 1877\u20131882 .","DOI":"10.1109\/IROS.1992.601506"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900102"},{"key":"atypb12","doi-asserted-by":"crossref","unstructured":"Mishra, B., Schwartz, J. T., and Sharir, M. 1987. On the existence and synthesis of multifinger positive grips . 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