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Steven Fortune

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

9 papers
2 author rows

Possible papers

9

FOCS Conference 1989 Conference Paper

Stable Maintenance of Point Set Triangulations in Two Dimensions

  • Steven Fortune

Geometric algorithms are explored, assuming that arithmetic is done approximately. Stable algorithms are described for two geometric problems. The first algorithm computes two-dimensional convex hulls. The main result is that a triangulation of a set of points in the plane can be maintained stably. The second algorithm deals with line arrangements in the plane. >

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ICRA Conference 1986 Conference Paper

Coordinated motion of two robot arms

  • Steven Fortune
  • Gordon T. Wilfong
  • Chee-Keng Yap

We study the problem of planning simultaneous motion for two robot arms that are modeled on the Stanford arm. The arms have two degrees of freedom and must move in a workspace, avoiding obstacles and each other. We develop an O(n 2 logn) algorithm for planning motion of two arms with tips together, and an O(n 3 ) algorithm for independent but synchronized motion. Here n is the total number of walls of the obstacles.

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ICRA Conference 1985 Conference Paper

Stable prehension with a multi-fingered hand

  • Brenda S. Baker
  • Steven Fortune
  • Eric Grosse

We study grasps by a robot hand with three spring-loaded fingers. In two dimensions, the hand can grasp any polygon stably. That is, the grip is at a local minimum of the potential energy function defined by the springs of the fingers, ignoring friction. Surprisingly, under some conditions an equilibrium grasp on a circle is unstable even with respect to translation. In three dimensions, the hand can grasp and lift any cylindrical surface with a polygonal cross-section. In contrast we show that a hand with finger angles fixed at 120°, as proposed by Hanafusa and Asada, generally can not achieve a two-dimensional stable grip in the absence of friction.

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