Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  extend the notion of grasp metrics to partial force-closure grasps.  describe two metrics which measure the maximum and sum, respectively, of the forces that need to be applied at the contacts involved in a grasp, in order to exert some given unit wrench on the grasped object. For a given object P of complexity O(n) and a pure force T,  describe efficient algorithms which compute all combinations of m features (edges of polygons or facets of polyhedra) that admit grasps capable of exerting T such that the value of our metric is greater than some threshold. In particular,  show that if P is a polygon, all pairs of edges that admit frictionless two-finger grasps capable of exerting T can be computed in O(n log 2  n+K) time, where K is the number of pairs of edges in the output. Also, all two-finger grasps with friction of a polyhedral object can be computed in O(n 3/2+e  + K′) time and all frictionless three-finger grasps of a polyhedron can be computed in O(n 5/2+e  + K′) time, where K 0  is the number of pairs or triples of facets that satisfy some slightly aker condition and e is some arbitrarily small, positive constant.
['Heinrich Kruger', 'A. Frank van der Stappen']
I am writing a research paper on a idea Partial closure grasps: Metrics and computation
[{"from": "human", "value": "I am writing a research paper on a idea Partial closure grasps: Metrics and computation"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely:  extend the notion of grasp metrics to partial force-closure grasps.  describe two metrics which measure the maximum and sum, respectively, of the forces that need to be applied at the contacts involved in a grasp, in order to exert some given unit wrench on the grasped object. For a given object P of complexity O(n) and a pure force T,  describe efficient algorithms which compute all combinations of m features (edges of polygons or facets of polyhedra) that admit grasps capable of exerting T such that the value of our metric is greater than some threshold. In particular,  show that if P is a polygon, all pairs of edges that admit frictionless two-finger grasps capable of exerting T can be computed in O(n log 2  n+K) time, where K is the number of pairs of edges in the output. Also, all two-finger grasps with friction of a polyhedral object can be computed in O(n 3/2+e  + K\u2032) time and all frictionless three-finger grasps of a polyhedron can be computed in O(n 5/2+e  + K\u2032) time, where K 0  is the number of pairs or triples of facets that satisfy some slightly aker condition and e is some arbitrarily small, positive constant."}]