Skip to main content
Springer Nature Link
Log in
Menu
Find a journal Publish with us Track your research
Search
Saved research
Cart
  1. Home
  2. Discrete & Computational Geometry
  3. Article

Objects that cannot be taken apart with two hands

  • Published: 01 September 1994
  • Volume 12, pages 367–384 (1994)
  • Cite this article
Download PDF
Save article
View saved research
Discrete & Computational Geometry Aims and scope Submit manuscript
Objects that cannot be taken apart with two hands
Download PDF
  • J. Snoeyink1 &
  • J. Stolfi2 
  • 549 Accesses

  • 18 Citations

  • 3 Altmetric

  • Explore all metrics

Abstract

It has been conjectured that every configurationC of convex objects in 3-space with disjoint interiors can be taken apart by translation with two hands: that is, some proper subset ofC can be translated to infinity without disturbing its complement. We show that the conjecture holds for five or fewer objects and give a counterexample with six objects. We extend the counterexample to a configuration that cannot be taken apart with two hands using arbitrary isometries (rigid motions).

Article PDF

Download to read the full article text

Similar content being viewed by others

Convex Lifting-Type Methods for Curvature Regularization

Chapter © 2020

Generalised convexity with respect to families of affine maps

Article Open access 03 April 2025

Next-best-view regression using a 3D convolutional neural network

Article 23 January 2021

Explore related subjects

Discover the latest articles, books and news in related subjects, suggested using machine learning.
  • Combinatorial Geometry
  • Convex and Discrete Geometry
  • Deconstruction
  • Geometry
  • Polytopes
  • Set Theory

References

  1. V. Chvátal,Linear Programming. Freeman, San Francisco, CA, 1983.

    Google Scholar 

  2. S. T. Coffin.The Puzzling World of Polyhedral Dissections, Oxford University Press, Oxford, 1991.

    Google Scholar 

  3. R. H. Crowell and R. H. Fox.Introduction to Knot Theory, Blaisdell, New York, 1965.

    Google Scholar 

  4. R. Dawson. On removing a ball without disturbing the others.Mathematics Magazine, 57 (1): 27–30, 1984.

    Article  MathSciNet  Google Scholar 

  5. N. G. de Bruijn. Problems 17 and 18.Nieuw Archief voor Wikskunde, 2: 67, 1954, Answers inWiskundige Opgaven met de oplossingen, 20: 19–20, 1955.

    Google Scholar 

  6. L. Fejes-Toth and A. Heppes. Uber stabile Körpersysteme,Compositio Mathematica, 15 (2): 119–126, 1963.

    MathSciNet  Google Scholar 

  7. J. B. Fraleigh.A First Course in Abstract Algebra. Addison-Wesley, Reading, MA, 1982.

    Google Scholar 

  8. L. J. Guibas and F. F. Yao. On translating a set of rectangles.Proceedings of the 12th Annual ACM Symposium on Theory of Computing, pages 154–160, 1980.

  9. P. McMullen and G. C. Shephard,Convex Polytopes and the Upper Bound Conjecture. Cambridge University Press, Cambridge, 1971.

    Book  Google Scholar 

  10. L. S. H. d. Mello.Computer-Aided Mechanical Assembly Planning. Kluwer, Boston, 1991.

    Book  Google Scholar 

  11. B. Mishra, J. T. Schwart, and M. Sharir. On the existence and synthesis of multifinger positive grips.Algorithmica, 2: 541–558, 1987.

    Article  MathSciNet  Google Scholar 

  12. B. K. Natarajan. On planning assembles.Proceedings of the Fourth Annual ACM Symposium on Computational Geometry, pages 299–308, 1988.

  13. C. H. Papadimitriou and K. Steiglitz,Combinatorial Optimization: Algorithms and Complexity. Prentice-Hall, Englewood Cliffs, NJ, 1982.

    Google Scholar 

  14. J. Pertin-Troccaz. Grasping: A state of the art. In O. Khatib, J. J. Craig, and T. Lozano-Perez, editors,The Robotics Review 1, pages 71–98. MIT Press, Cambridge, MA, 1989.

    Google Scholar 

  15. F. P. Preparata. Planar point location revisited.International Journal of Foundations of Computer Science, 1 (1): 71–86, 1990.

    Article  MathSciNet  Google Scholar 

  16. J. Snoeyink. Video: Objects that cannot be taken apart with two hands.Proceedings of the Ninth Annual ACM Symposium on Computational Geometry, page 405, 1993. Video Review of Computational Geometry also available as DEC SRC Report 101. 4:39 animation.

  17. R. H. Wilson and T. Matsui. Partitioning an assembly for infinitestimal motions in translation and rotation.IEEE International Conference on Intellegent Robots and Systems, pages 1311–1318, 1992.

Download references

Author information

Authors and Affiliations

  1. Department of Computer Science, University of British Columbia, V6T 1Z4, Vancouver, BC, Canada

    J. Snoeyink

  2. Computer Science Department, Universidade Estadual de Campinas, Caixa Postal 6065, 13081, Campinas, SP, Brazil

    J. Stolfi

Authors
  1. J. Snoeyink
    View author publications

    Search author on:PubMed Google Scholar

  2. J. Stolfi
    View author publications

    Search author on:PubMed Google Scholar

Additional information

The research of J. Snoeyink was supported in part by an NSERC Research Grant. J. Stolfi was previously at DEC Systems Research Center, Palo Alto, CA, USA.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Snoeyink, J., Stolfi, J. Objects that cannot be taken apart with two hands. Discrete Comput Geom 12, 367–384 (1994). https://doi.org/10.1007/BF02574386

Download citation

  • Received: 20 March 1993

  • Revised: 08 March 1994

  • Published: 01 September 1994

  • Issue date: September 1994

  • DOI: https://doi.org/10.1007/BF02574386

Share this article

Anyone you share the following link with will be able to read this content:

Sorry, a shareable link is not currently available for this article.

Provided by the Springer Nature SharedIt content-sharing initiative

Keywords

  • Proper Subset
  • Rigid Motion
  • Plane Equation
  • Rotation Matrice
  • Convex Object

Advertisement

Search

Navigation

  • Find a journal
  • Publish with us
  • Track your research

Footer Navigation

Discover content

  • Journals A-Z
  • Books A-Z
  • Subjects A-Z

Publish with us

  • Journal finder
  • Publish your research
  • Language editing
  • Open access publishing

Products and services

  • Our products
  • Librarians
  • Societies
  • Partners and advertisers

Our brands

  • Springer
  • Nature Portfolio
  • BMC
  • Palgrave Macmillan
  • Apress
  • Discover

Corporate Navigation

  • Your US state privacy rights
  • Accessibility statement
  • Terms and conditions
  • Privacy policy
  • Help and support
  • Legal notice
  • Cancel contracts here

104.23.243.58

Not affiliated

Springer Nature

© 2026 Springer Nature