Clamping a polygon |
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Authors: | Diane L Souvaine Christopher J Van Wyk |
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Affiliation: | (1) Department of Computer Science, Rutgers University, 08903 New Brunswick, NJ, USA;(2) Department of Mathematics and Computer Science, Drew University, 07940 Madison, NJ, USA |
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Abstract: | Aclamping hand has two opposing parallel edges; the distance between them can vary. We define what it means for the edges of a clamping hand and some edges of a polygon to form aclamp on the polygon. We conjecture that any polygon can be clamped by a hand if its edges are of positive length, but only provide proofs that clamps must exist for convex polygons and for certain polygons composed of two convex chains. The proofs involve extensive case analyses, and it is not obvious how to generalize them. |
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Keywords: | Clamp polygon Grippers robotics Robotics grip |
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