{"id":"https://openalex.org/W2096310018","doi":"https://doi.org/10.1109/coase.2007.4341745","title":"Geometric Properties and Computation of Three-Finger Caging Grasps of Convex Polygons","display_name":"Geometric Properties and Computation of Three-Finger Caging Grasps of Convex Polygons","publication_year":2007,"publication_date":"2007-09-01","ids":{"openalex":"https://openalex.org/W2096310018","doi":"https://doi.org/10.1109/coase.2007.4341745","mag":"2096310018"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2007.4341745","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2007.4341745","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Automation Science and Engineering","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000514468","display_name":"Mostafa Vahedi","orcid":null},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mostafa Vahedi","raw_affiliation_strings":["Department of Information and Computing Sciences, University of Utrecht, Utrecht, Netherlands","Utrecht University, Utrecht,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information and Computing Sciences, University of Utrecht, Utrecht, Netherlands","institution_ids":["https://openalex.org/I193662353"]},{"raw_affiliation_string":"Utrecht University, Utrecht,","institution_ids":["https://openalex.org/I193662353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044860343","display_name":"A. Frank van der Stappen","orcid":"https://orcid.org/0000-0001-7965-2818"},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"A. Frank van der Stappen","raw_affiliation_strings":["Department of Information and Computing Sciences, University of Utrecht, Utrecht, Netherlands","Utrecht University, Utrecht,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information and Computing Sciences, University of Utrecht, Utrecht, Netherlands","institution_ids":["https://openalex.org/I193662353"]},{"raw_affiliation_string":"Utrecht University, Utrecht,","institution_ids":["https://openalex.org/I193662353"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193662353"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"404","last_page":"411"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.7206118106842041},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.6917648315429688},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6390095353126526},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5791440010070801},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.5607904195785522},{"id":"https://openalex.org/keywords/convex-polygon","display_name":"Convex polygon","score":0.5564026236534119},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49749138951301575},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.4931935667991638},{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.45252883434295654},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41763144731521606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40486404299736023},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3999800980091095},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16695109009742737},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09128493070602417},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07367706298828125}],"concepts":[{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.7206118106842041},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.6917648315429688},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6390095353126526},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5791440010070801},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.5607904195785522},{"id":"https://openalex.org/C2780034980","wikidata":"https://www.wikidata.org/wiki/Q3259505","display_name":"Convex polygon","level":3,"score":0.5564026236534119},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49749138951301575},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4931935667991638},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.45252883434295654},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41763144731521606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40486404299736023},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3999800980091095},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16695109009742737},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09128493070602417},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07367706298828125},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2007.4341745","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2007.4341745","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Automation Science and Engineering","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.46000000834465027,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1587013011","https://openalex.org/W1645472491","https://openalex.org/W1675998861","https://openalex.org/W1762028192","https://openalex.org/W1820657498","https://openalex.org/W2022252807","https://openalex.org/W2032606934","https://openalex.org/W2058889860","https://openalex.org/W2058912523","https://openalex.org/W2103189462","https://openalex.org/W2124995771","https://openalex.org/W2135921905","https://openalex.org/W2149906774","https://openalex.org/W2989259058","https://openalex.org/W4214494916","https://openalex.org/W4240820979","https://openalex.org/W6637858548","https://openalex.org/W6675554825"],"related_works":["https://openalex.org/W2952709568","https://openalex.org/W2053943947","https://openalex.org/W4308273173","https://openalex.org/W4240339429","https://openalex.org/W2154141401","https://openalex.org/W2314484939","https://openalex.org/W2091897099","https://openalex.org/W2040597793","https://openalex.org/W1585992543","https://openalex.org/W2215744270"],"abstract_inverted_index":{"We":[0,38,62],"study":[1],"three-finger":[2,46],"caging":[3,47,57,183],"grasps":[4,48,58],"of":[5,42,45,49,115,150,171,185,198],"convex":[6,50,84],"polygons.":[7],"A":[8],"grasp":[9,141,184],"is":[10,193],"said":[11],"to":[12,25,27,66,105,195],"cage":[13],"a":[14,28,36,40,54,72,82,92,112,120,147,182],"part":[15,24],"when":[16],"the":[17,23,33,116,123,139,143,151,155,172,177,186,196,199],"fingers":[18,118,153,179],"make":[19],"it":[20],"impossible":[21],"for":[22,81,122],"move":[26],"distant":[29],"location\u2013and,":[30],"hence,":[31],"escape":[32],"grasp\u2013without":[34],"penetrating":[35],"finger.":[37],"present":[39],"collection":[41],"geometric":[43],"properties":[44],"polygons,":[51],"and":[52,59,91,119],"establish":[53],"relation":[55],"between":[56,95],"immobilizing":[60],"grasps.":[61],"use":[63],"these":[64],"results":[65],"derive":[67],"an":[68,128,160],"algorithm":[69,129,161],"that":[70,130,162,176],"computes":[71],"data":[73,101],"structure":[74,102],"in":[75,132,164,188],"roughly":[76],"<i":[77,87,133,165,190],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[78,88,134,166,191],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">O(n<sup>6</sup>)</i>":[79],"time":[80,137,168],"given":[83,113,148],"polygon":[85,156],"with":[86],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">n</i>":[89],"edges":[90],"specified":[93],"distance":[94],"two":[96,108],"so-called":[97],"base":[98,117,152],"fingers.":[99],"The":[100],"allows":[103],"us":[104],"efficiently":[106],"solve":[107],"problems.":[109],"\u2022":[110,145],"For":[111,146],"placement":[114,121,149],"third":[124,173],"finger,":[125],"we":[126,158],"give":[127,159],"determines":[131],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">O(log":[135],"n)</i>":[136],"whether":[138],"resulting":[140],"cages":[142],"polygon.":[144],"on":[154],"boundary":[157],"outputs":[163],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">O(n+K)</i>":[167],"all":[169],"placements":[170],"finger":[174],"such":[175],"three":[178],"together":[180],"constitute":[181],"polygon,":[187],"which":[189],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">K</i>":[192],"proportional":[194],"complexity":[197],"output.":[200]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
