Grasping non-stretchable cloth polygons

  • Bell M
  • Balkcom D
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Abstract

In this paper, we examine non-stretchable two-dimensional polygonal cloth, and place bounds on the number of fingers needed to immobilize it. For any non-stretchable cloth polygon, it is always necessary to pin all of the convex vertices. We show that for some shapes, more fingers are necessary. No more than one-third of the concave vertices need to be pinned for simple polygons, and no more than one-third of the concave vertices plus two fingers per hole are necessary for polygons with holes.

Author-supplied keywords

  • Cloth manipulation
  • Grasping
  • Rigidity

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Authors

  • Matthew Bell

  • Devin Balkcom

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