3P2-S01 Object Closureに基づく多指ケージング計画(ロボットハンドの機構と把持戦略(2))

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  • 3P2-S01 Planning of Multifingered Caging on the Basis of Object Closure(Robot Hand Mechanism and Grasping Strategy (2))

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Caging is a method to make an object inescapable from a cage by robot hands. In this paper, we derive sufficient conditions to enclose objects both with polygonal and with spherical shape on the basis of an idea of Object Closure, which was originally derived by Wang et al. With those conditions, various postures of robot hand to achieve caging are determined. As a result, the determination of the hand posture for two-dimensional caging was successfully performed. As for a three-dimensional caging, it also worked successfully with a probabilistic searching instead of definite sufficient conditions of caging.

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