Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published May 2012 | public
Book Section - Chapter

Two-fingered caging of polygons via contact-space graph search

Abstract

Based on a novel contact-space formulation, this paper presents a new algorithm to find two-fingered caging grasps of planar polygonal objects. We show that the caging problem has several useful properties in contact space. First, the critical points of the cage representation in the hand's configuration space appear as critical points of an inter-finger distance function in contact space. Second, the critical points of this distance function can be simply characterized. Third, the contact space admits a rectangular decomposition where the distance function is convex in each rectangle, and all critical points lie on the rectangle boundaries. This property leads to a natural "caging graph," which can be readily searched to construct the caging sets. An example, constructed from real-world data illustrates and validates the method.

Additional Information

© 2012 IEEE. Date of Current Version: 28 June 2012. This work was performed for the Jet Propulsion Laboratory, California Institute of Technology, with funding from the DARPA Autonomous Robotic Manipulation Software Track (ARM-S) and the U.S. Army under the Robotics Collaborative Technology Alliance through an agreement with the National Aeronautics and Space Administration.

Additional details

Created:
August 19, 2023
Modified:
October 17, 2023