Journal Article10.1109/TRO.2016.2588723
Multifinger Caging Using Dispersion Constraints
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TL;DR: An algorithm for computing all initial finger placements at which the object can be caged in an aforementioned manner is presented and an implementation of the proposed algorithm is described along with implementation results both in 2-D and 3-D.
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Abstract: An object is caged by a formation of fingers when it is blocked by the fingers from moving arbitrarily far away. Although some objects such as those with opposing concave sections can be caged by only two fingers, many other objects require at least three. Rectangles and 3-D convex objects without a supporting plane, for example, require at least four. This paper focuses on multifinger squeezing caging in which the positions of fingers obey dispersion constraints. In particular, we present an algorithm for computing all initial finger placements at which the object can be caged in an aforementioned manner. An implementation of the proposed algorithm is described along with implementation results both in 2-D and 3-D.
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Citations
A survey of robotic caging and its applications
Satoshi Makita,Weiwei Wan +1 more
TL;DR: This paper reviews the robotic literature related to caging ranging from its historical background, state-of-the-art developments, to practical applications, and provides insights on some open problems and promising research and application directions.
51
Equilateral Three-Finger Caging of Polygonal Objects Using Contact Space Search
TL;DR: The paper describes a caging graph that can be constructed in the hand’s relatively simple contact space and proposes a method that is both physically intuitive and computationally simple, to compute these caging regions.
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Immobilizing Caging Grasps of Convex Polyhedrons With a Four-Pin Gripper
Jianhua Su,Chuankai Liu,Yan Meng +2 more
- 07 Jul 2021
TL;DR: In this article, a caging set detection method based on the constraint region is introduced, which converts one high-dimensional caging configuration into several lower-dimensional cage sets in the translation space and rotation space, through which analysis of grasping can be performed more efficiently.
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Caging Polygonal Objects Using Formationally Similar Three-Finger Hands
Hallel A. Bunis,Elon Rimon,Yoav Golan,Amir Shapiro +3 more
- 29 Jun 2018
TL;DR: The problem of computing the critical cage formation that allows the object to escape the hand is reduced to a search along a caging graph constructed in the hand's contact space, which determines the caging regions surrounding the immobilizing grasp.
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Geometric Characterization of Two-Finger Basket Grasps of 2-D Objects: Contact Space Formulation
Elon Rimon,Florian T. Pokorny,Weiwei Wan +2 more
- 01 May 2020
TL;DR: It is established that all two-finger basket grasps can be found in a low-dimensional contact space that parametrizes the two- finger contacts along the supported object boundary.
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References
From caging to grasping
TL;DR: The concept of pregrasping cages, caging configurations from which an object can be grasped without first breaking the cage, is introduced and an analogy between the role of grasping functions in grasping and that of Lyapunov functions in stability theory is established.
Cooperative localization and control for multi-robot manipulation
John R. Spletzer,Aveek Das,Rafael Fierro,Camillo J. Taylor,Vijay Kumar,James Ostrowski +5 more
- 29 Oct 2001
TL;DR: A cooperative scheme for localizing the robots based on visual imagery that is more robust than decentralized localization and a set of control algorithms that allow the robots to maintain a prescribed formation are described.
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Caging 2D bodies by 1-parameter two-fingered gripping systems
Elon Rimon,Andrew Blake +1 more
- 22 Apr 1996
TL;DR: Using stratified Morse theory, the authors show that the hand's configuration at which the cage is broken corresponds to a frictionless equilibrium grasp, which allows the authors to formulate a technique for computing the caging set of a 2-fingered hand whose opening is controlled by a single parameter.
143
GEOMPACK — a software package for the generation of meshes using geometric algorithms☆
TL;DR: The GEOMPACK package contains routines for constructing two- and three-dimensional Delaunay triangulations, decomposing a general polygonal region into simple or convex polygons, and other geometric algorithms, from which the mesh generation method is built and others can be implemented.
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