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Grasping Non-stretchable Cloth Polygons

Department of Computer Science, Dartmouth College, Hanover, NH, USA

^* To whom correspondence should be addressed. E-mail: mbell{at}cs.dartmouth.edu.

	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.

First published on August 14, 2009
The International Journal of Robotics Research 2009, doi:10.1177/0278364909344634


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