This paper addresses a shortcut in the ray-shooting based algorithm proposed by Liu. His algorithm provides an efficient force-closure test of 3D frictional grasps, which is formulated as a linear programming (LP) problem. We prove that the optimal objective value of the LP formulation indicates the force-closure property of grasps directly. Thus computing Q, d/sub 1/, and d/sub 2/ can be omitted.
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Zheng et al. (2005) studied this question.
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