การคำนวณบริเวณสัมผัสอิสระที่ดีที่สุดบนวัตถุหลายเหลี่ยมในสองและสามมิติด้วยนิ้วจับสองนิ้ว / ชัยชนะ นิลวัชรารัง = Optimal independent contact region for 2D and 3D polygonal object grasping by two soft fingers / Chaichana Nilwatchararang
To present you two methods for calculating optimal independent contact region for 2D and 3D case. In 2D case, we’ll construct graspable region on configuration space and then use L∞ voronoi diagram to find largest square which represents optimal contact region of that grasp. In 3D case, we’ll transform the problem into graph system which vertex represent polyhedral face and 2 type of edge which represent adjacency property and force closure grasp property between every pair of edges. Then use GPU programming to calculate optimal independent contact region in parallel programming manners.
