Three finger optimal planar grasp

Abstract

In this paper, we study various algorithmic questions regarding the computation of an optimal three finger planar grasp. We present a novel O(n² log n)-time algorithm to compute such an optimal grasp for an arbitrary simple n-gon. This algorithm can be used for finding "good" immobilizing sets. We also discuss several variations on the problem and many intriguing open questions in the area that remain unsolved.