Computing All Force-Closure Grasps of 2D Objects from Contact Point Set

Given a set of n contact points on the boundary of a 2D object together with their contact normals and frictional coefficient, we present an output sensitive algorithm for computing all combinations of three points from this set that achieve force-closure under the frictional contact assumption. The proposed algorithm runs in O(n² lg²n + K) where K is the number of different solutions. Preliminary implementation is described along with experimental results showing efficiency of the algorithm