{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:58Z","timestamp":1777715758242,"version":"3.51.4"},"reference-count":21,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2000,5,1]],"date-time":"2000-05-01T00:00:00Z","timestamp":957139200000},"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":[[2000,5]]},"abstract":"<jats:p>\n                    We present the first algorithms for computing all placements of (frictionless) point                 fingers that put a polygonal part in form closure and all placements of point                 fingers that achieve second-order immobility of a polygonal part. Our algorithms run                 in O(n\n                    <jats:sup>2+\u2208<\/jats:sup>\n                    +K) and O(n\n                    <jats:sup>2<\/jats:sup>\n                    log\n                    <jats:sup>2<\/jats:sup>\n                    n + K) time in                 the case of form closure and second-order immobility, respectively, where n is the                 number of vertices of the polygon, K is the description size of the resulting set of                 finger placements, and \u2208 is an arbitrarily small constant. The basis of our                 algorithm is a translation of the problem into geometric searching problems, which                 are solved using efficient data structures. Our results can be extended to the                 problem of computing all placements of a line and two points that put a polygonal                 part in form closure. The resulting algorithm runs in O(n\n                    <jats:sup>2<\/jats:sup>\n                    log\n                    <jats:sup>2<\/jats:sup>\n                    n + K) time, where K is again the description size of the output.\n                  <\/jats:p>","DOI":"10.1177\/02783640022066978","type":"journal-article","created":{"date-parts":[[2004,12,17]],"date-time":"2004-12-17T20:23:10Z","timestamp":1103314990000},"page":"467-479","source":"Crossref","is-referenced-by-count":46,"title":["Computing Immobilizing Grasps of Polygonal Parts"],"prefix":"10.1177","volume":"19","author":[{"given":"A. Frank","family":"van der Stappen","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chantal","family":"Wentink","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mark H.","family":"Overmars","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Utrecht University, P.O. Box 80089, 3508                         TB, Utrecht, the Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,5]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.481749"},{"key":"e_1_2_1_2_1","doi-asserted-by":"crossref","unstructured":"de Berg M. van Kreveld M. Overmars M. and Schwarzkopf O. 1997. Computational Geometry\u2013Algorithms and Applications. Berlin: Springer-Verlag .","DOI":"10.1007\/978-3-662-03427-9"},{"key":"e_1_2_1_3_1","unstructured":"Ferrari C. and Canny J. F. 1992. Planning optimal grasps . Proc. IEEE Int. Conf. on Robotics and Automation Nice France pp. 2290\u20132295 ."},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900102"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800202"},{"key":"e_1_2_1_6_1","doi-asserted-by":"crossref","unstructured":"Mirtich B. and Canny J. F. 1994. Easily computable optimum grasps . Proc. IEEE Int. Conf. on Robotics and Automation San Diego CA pp. 739\u2013747 .","DOI":"10.1109\/ROBOT.1994.351399"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF01840373"},{"key":"e_1_2_1_8_1","first-page":"3","volume":"7","year":"1988","unstructured":"Nguyen, V.-D., 1988. Constructing force-closure grasps . Int. J. of Robotics Research 7: 3\u201316 .","journal-title":"Int. J. of Robotics Research"},{"key":"e_1_2_1_9_1","doi-asserted-by":"crossref","unstructured":"Overmars M. Rao A. Schwarzkopf O. and Wentink C. 1995. Immobilizing polygons against a wall . Proc. 11th Ann. ACM Symp. on Computational Geometry Vancouver BC pp. 29\u201338 .","DOI":"10.1145\/220279.220283"},{"key":"e_1_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.478433"},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499301200305"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499701600102"},{"key":"e_1_2_1_13_1","unstructured":"Reuleaux F. 1876. The Kinematics of Machinery. London: Macmillan ; republished by Dover (New York 1963)."},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.720346"},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.720347"},{"key":"e_1_2_1_16_1","unstructured":"Sudsang A. Ponce J. and Srinivasa N. 1997. Algorithms for constructing immobilizing fixtures and grasps of three-dimensional objects. In Algorithms for Robotic Motion and Manipulation ed. J.-P. Laumond and M. Overmars 363\u2013380. Wellesley MA: A. K. Peters ."},{"key":"e_1_2_1_17_1","doi-asserted-by":"crossref","unstructured":"Wagner R. Zhuang Y. and Goldberg K. Y. 1995. Fixturing parts with seven modular struts . Proc. IEEE Int. Symp. on Assembly and Task Planning Pittsburgh PA pp. 133\u2013139 .","DOI":"10.1109\/ISATP.1995.518762"},{"key":"e_1_2_1_18_1","doi-asserted-by":"crossref","unstructured":"Wallack A. and Canny J. F. 1994. Planning for modular and hybrid fixtures . Proc. IEEE Int. Conf. on Robotics and Automation San Diego CA pp. 520\u2013527 .","DOI":"10.1109\/ROBOT.1994.351245"},{"key":"e_1_2_1_19_1","doi-asserted-by":"crossref","unstructured":"Wallack A. and Canny J. F. 1996. Modular fixture design for generalized polyhedra . Proc. IEEE Int. Conf. on Robotics and Automation Minneapolis MN pp. 830\u2013837 .","DOI":"10.1109\/ROBOT.1996.503876"},{"key":"e_1_2_1_20_1","unstructured":"Wentink C. 1998. Fixture Planning\u2013Geometry and Algorithms. Ph.D. thesis Dept. of Computer Science Utrecht University the Netherlands."},{"key":"e_1_2_1_21_1","unstructured":"Wentink C. van der Stappen A. F. and Overmars M. H. 1997. Algorithms for fixture design. In Algorithms for Robotic Motion and Manipulation ed. J.-P. Laumond and M. Overmars 321\u2013346. Wellesley MA: A. K. Peters ."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783640022066978","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783640022066978","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:11Z","timestamp":1777457771000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783640022066978"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2000,5]]},"references-count":21,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2000,5]]}},"alternative-id":["10.1177\/02783640022066978"],"URL":"https:\/\/doi.org\/10.1177\/02783640022066978","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2000,5]]}}}