publications

N. Niparnan, A. Sudsang and P. Chongstitvatana. Positive Span of Force and Torque Components in Three Dimensional Four Finger Force Closure Grasps. Advanced Robotics. Vol. 22, No. 13-14, 2008.

A. Sudsang, F. Rothanger and J. Ponce. Motion Planning for Disc-Shaped Robots Pushing a Polygonal Object in the Plane. IEEE Transactions on Robotics and Automation, Vol 18, No. 4, pages 550-562, Aug, 2002. pdf demo

A. Sudsang, J. Ponce and N. Srinivasa. In-Hand Manipulation: Geometry and Algorithms. Algorithmica, Vol 26, No. 4, pages 466-493, Jan, 2000.

A. Sudsang and J. Ponce. In-Hand Manipulation: Experiments with a Reconfigurable Gripper. Advanced Robotics. Vol. 12, No. 5, pages 509-533, Dec, 1998. pdf

J. Ponce, S. Sullivan, A. Sudsang, J. Boissonnat and J. Merlet. On Computing Four-Finger Equilibrium and Force-Closure Grasps of Polyhedral Objects. International Journal of Robotics Research, Vol. 16, No. 1, pages 11-35, Feb,1997 pdf.

A. Sudsang, J. Ponce and N. Srinivasa. Algorithms for Constructing Immobilizing Fixtures and Grasps of Three-dimensional Objects. In J.-P. Laumont and M. Overmars, editors, Algorithmic Foundations of Robotics II, pages 363-380. AK Peters, Ltd., 1997. pdf

J. Ponce, A. Sudsang, and Steve Sullivan. Algorithms for Computing Force-Closure Grasps of Polyhedral Objects. In K. Goldberg, et al, editors, Algorithmic Foundations of Robotcs I, pages 167-184. AK Peters, Ltd, 1995.

T. Phoka, P. Wongmasa, C. Nilwatchararang, P. Pipattanasomporn and A. Sudsang. Planning Optimal Independent Contact Regions for Two-Fingered Force-Closure Grasp of a Polygon. Proc. of the IEEE International Conf. on Robotics and Automation, pp 1175-1180, 2008

P. Pipattanasomporn, P. Wongmasa and A. Sudsang. Caging rigid polytopes via finger dispersion control. Proc. of the IEEE International Conf. on Robotics and Automation, 1181-1186, 2008

N. Suarod, N. Boonpinon and A. Sudsang. A heuristic method for computing caging formation of polygonal object. Proc of the IEEE International Conf. on Robotics and Biomimetics, pp 823-828, 2007

T. Phoka, N. Niparnan and A. Sudsang. Hierarchical Simplification for 5-Fingered 3D Regrasp Planning on Triangular Mesh Objects. Proc of the IEEE International Conf. on Robotics and Biomimetics, pp 571-576, 2007

N. Boonpinon and A. Sudsang. Constrained Coverage for Heterogeneous Multi-Robot Team. Proc of the IEEE International Conf. on Robotics and Biomimetics, pp 799-804, 2007

P. Pipattanasomporn, P. Wongmasa and A. Sudsang. Two-Finger Squeezing Caging of Polygonal and Polyhedral Object. Proc. of the IEEE International Conf. on Robotics and Automation, 205-210, 2007

N. Niparnan and A. Sudsang. Positive Span of Force and Torque Components of Three-Fingered Three-Dimensional Force-Closure Grasps. Proc. of the IEEE International Conf. on Robotics and Automation, pp 4701-4706, 2007

T. Phoka, N. Niparnan and A. Sudsang. Planning Optimal Grasps for Curved Objects. Proc. of the IEEE International Conf. on Robotics and Biomimetics, 2006.

N. Niparnan, T. Phoka and A. Sudsang. Computing Frictionless Force-Closure Grasps of 2D Objects from Contact Point Set Proc. of the IEEE International Conf. on Robotics and Biomimetics, 2006.

N. Boonpinon and A. Sudsang. Heterogeneity Driven Circular Formation. Proc. of the IEEE International Conf. on Robotics and Biomimetics, 2006.

N. Niparnan and A. Sudsang. Computing All Force-Closure Grasps of 2D Objects from Contact Point Set. Proc. of the IEEE/RSJ International Conf. on Intelligent Robots and Systems, pp 1599-1604, 2006.

P. Vongmasa and A. Sudsang. Coverage Diameters of Polygons. Proc. of the IEEE/RSJ International Conf. on Intelligent Robots and Systems, pp 4036-4041, 2006. pdf

N. Niparnan and A. Sudsang. A Heuristic Approach for Computing Frictionless Force-Closure Grasps of 2D Objects from Contact Point Set. Proc. of the IEEE International Conference on Robotics, Automation and Mechatronics, 2006

T. Phoka, N. Niparnan and A. Sudsang. Planning Optimal Force-Closure Grasps for Curved Objects by Genetic Algorithm. Proc. of the IEEE International Conference on Robotics, Automation and Mechatronics, 2006

P. Pipattanasomporn and A. Sudsang. Two-Finger Caging of Concave Polygon. Proc. of the IEEE International Conf. on Robotics and Automation, 2006

P. Pipattanasomporn, S. Dhanapanichkul and A. Sudsang. Emergence of Straight-Line Trajectory in Cooperative Object Transportation. Proc. of the International Conference on Computational Intelligence, Robotics and Autonomous Systems, 2005. pdf

A. Sudsang and T. Phoka. Geometric Reformulation of 3-Fingered Force-Closure Condition. Proc. of the IEEE International Conf. on Robotics and Automation, pp 2349-2354, 2005. pdf

T. Phoka, P. Pipattanasomporn, N. Niparnan and A. Sudsang. Regrasp Planning of Four-Fingered Hand for Parallel Grasp of a Polygonal Object. Proc. of the IEEE International Conf. on Robotics and Automation, pp 791-796, 2005. pdf

N. Niparnan and A. Sudsang. Fast Computation of 4-Fingered Force-Closure Grasps from Surface Points. Proc. of the IEEE/RSJ International Conf. on Intelligent Robots and Systems, pp 3692-3697, 2004. pdf

T. Phoka and A. Sudsang. Regrasp Planning for a 5-Fingered Hand Manipulating a Polyhedron. Proc. of the IEEE/RSJ International Conf. on Intelligent Robots and Systems, pp 3674-3679, 2003. pdf

A. Sudsang and T. Phoka. Regrasp Planning for a 4-Fingered Hand Manipulating a Polygon. Proc. of the IEEE International Conf. on Robotics and Automation, pp 2671-2676, 2003. pdf

A. Sudsang and T. Luewirawong. Capturing a Concave Polygon with Two Disc-Shaped Fingers. Proc. of the IEEE International Conf. on Robotics and Automation, pp 1121-1126, 2003. pdf

A. Sudsang. Sensorless Sorting of Two Parts in the Plane Using Programmable Force Fields. Proc. of the IEEE/RSJ International Conf. on Intelligent Robots and Systems, pp 1784-1789, 2002. pdf

A. Sudsang. Sweeping the Floor: Moving Multiple Objects with Multiple Disc-Shaped Robots. Proc. of the IEEE/RSJ International Conf. on Intelligent Robots and Systems, pp 2825-2830, 2002. pdf

A. Sudsang. A Sufficient Condition for Capturing an Object in the Plane with Disc-Shaped Robots. Proc. of the IEEE International Conf. on Robotics and Automation, pp 682-687, 2002. pdf

A. Sudsang, F. Rothganger and J. Ponce. An Implemented Planner for Manipulating a Polygonal Object in the Plane with Three Disc-Shaped Mobile Robots. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 1499-1506, 2001.

A. Sudsang and L. Kavraki. Part Orientation with a Force Field: Orienting Multiple Shapes Using a Single Field. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 208-213, 2001. pdf

A. Sudsang and L. Kavraki. A Geometric Approach to Designing a Programmable Force Field with a Unique Stable Equilibrium for Parts in the Plane. Proc of the IEEE International Conf. on Robotics and Automation, pp 1079-1085, 2001 (finalist for best paper award). pdf

A. Sudsang and J. Ponce. A New Approach to Motion Planning for Disc-Shaped Robots Manipulating a Polygonal Object in the Plane. Proc. of the IEEE International Conf. on Robotics and Automation, pp 1068-1075, 2000.

A. Sudsang, J. Ponce, M. Hyman and D. Kriegman. On Grasping and Manipulating Polygonal Objects with Three 2-dof Robots in the Plane. Proc. of the IEEE International Conf. on Robotics and Automation, pp 2227-2234, 1999.

A. Sudsang and J. Ponce. On Grasping and Manipulating Polygonal Objects with Disc-Shaped Robots in the Plane. Proc. of the IEEE International Conf. on Robotics and Automation, pp 2740-2746, 1998. pdf

A. Sudsang and J. Ponce. In-Hand Manipulation: Geometry and Algorithms. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 98-105, 1997 (runner-up for best paper award). pdf

A. Sudsang N. Srinivasa and J. Ponce. On Planning Immobilizing Grasps for a Reconfigurable Gripper. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 106-113, 1997. pdf

A. Sudsang and J. Ponce. New Techniques for Computing Four-Finger Force-Closure Grasps of Polyhedral Objects. Proc. of the IEEE International Conf. on Robotics and Automation, pp 1355-1360, 1995. pdf

A. Sudsang. Geometry and Algorithm for Part Fixturing, Grasping and Manipulation with Modular Fixturing Elements, a New Reconfigurable Gripper and Mobile Robots. PhD thesis, Department of Computer Science, University of Illinois at Urbana-Champaign, 1999. pdf

A. Sudsang. On Computing Multi-Finger Force-Closure and Optimal Grasps of Two- and Three-Dimensional Objects. Master thesis, Department of Computer Science, University of Illinois at Urbana-Champaign, 1994.