3 accepted papers
Caging offers a robust strategy for grasping objects with robot hands. This letter utilizes caging for locking polygonal objects against a wall using minimalistic two-finger robot hands. From the object's perspective, the wall and two-finger hand form an equivalent three-finger hand. The object is f
Caging offers a robust strategy for grasping objects with robot hands. This letter describes an efficient caging-to-grasping algorithm for polygonal objects using minimalistic three-finger robot hands. This letter describes how to cage and then grasp polygonal objects, using single actuator triangul
Multifinger caging offers a robust object grasping approach. While efficient computation of two-finger caging grasps is well developed, the computation of three-finger caging grasps has remained a challenging open problem. This letter considers the caging of polygonal objects with three-finger hands