Abstract
This paper develops the theory and algorithms for immobilizing/caging polyhedral objects using curved (for example, planar, cylindrical, or spherical) effectors, in contrast to customary point effectors. We show that it is possible to immobilize all polyhedral objects with three effectors with possibly nonzero curvature, with finite extent. We further discuss how to cage the objects and obtain a stable grasp from such a cage. The theory can also be applied to immobilize/cage polygonal objects on the plane. As one application of the theory, we address the problem of whole-arm grasping with robot arms.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
References
Aichholzer, O., Demaine, E.D., Erickson, J., Hurtado, F., Overmars, M., Soss, M.A., Toussaint, G.T.: Reconfiguring convex polygons. Comput. Geom. Theory Appl. 20, 1–2 (2001)
Bose, P., Bremner, D., Toussaint, G.T.: All convex polyhedra can be clamped with parallel jaw grippers. Comput. Geom. Theory Appl. 6, 291–302 (1996)
Connelly, R., Demaine, E., Rote, G.: Straightening polygonal arcs and convexifying polygonal cycles. Discret. Comput. Geom. 30, 205–239 (2003)
Hsiao, K., Lozano-Perez, T.: Imitation learning of whole-body grasps. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2006)
Iben, H., O’Brien, J., Demaine, E.: Refolding planar polygons. Discret. Comput. Geom. 41(3), 444–460 (2009)
Mason, M.T.: Mechanics of Robotic Manipulation. MIT press, Cambridge (2001)
Miller, A.T., Knoop, S., Christensen, H.I., Allen, P.K.: Automatic grasp planning using shape primitives. In: Proceedings. IEEE International Conference on Robotics and Automation, 2003, vol. 2, pp. 1824–1829 (2003)
Murray, R.M., Li, Z., Sastry, S.S.: A Mathematical Introduction to Robotic Manipulation. CRC, Boca Raton (1994)
Nguyen, V.D.: Constructing stable grasps. Int. J. Robot. Res. 8(1), 26–37 (1989)
Peshkin, M., Sanderson, A.: Reachable grasps on a polygon: the convex rope algorithm. IEEE J. Robot. Autom. 2(1), 53–58 (1986)
Rimon, E., Blake, A.: Caging planar bodies by one-parameter two-fingered gripping systems. Int. J. Robot. Res. 18(3), 299–318 (1999)
Rimon, E., Burdick, J.W.: Mobility of bodies in contact—part I: A 2nd-order mobility index for multiple-finger grasps. IEEE Trans. Robot. Autom. 14, 696–708 (1998)
Rimon, E., Burdick, J.W.: Mobility of bodies in contact—Part II: how forces are generated by curvature effects. IEEE Trans. Robot. Autom. 14, 709–717 (1998)
Rodriguez, A., Mason, M., Ferry, S.: From caging to grasping. Int. J. Robot. Res. 31(7), 886–900 (2012)
Seo, J., Kumar, V.: Spatial, bimanual, whole-arm grasping. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2012)
Vahedi, M., van der Stappen, A.: Caging polygons with two and three fingers. Int. J. Robot. Res. 27(11–12), 1308–1324 (2008)
Acknowledgments
We gratefully acknowledge the support of NSF 1328805, 1138847, and ARL Grant W911NF-10-2-0016.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Seo, J., Yim, M., Kumar, V. (2016). Restraining Objects with Curved Effectors and Its Application to Whole-Arm Grasping. In: Inaba, M., Corke, P. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 114. Springer, Cham. https://doi.org/10.1007/978-3-319-28872-7_24
Download citation
DOI: https://doi.org/10.1007/978-3-319-28872-7_24
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-28870-3
Online ISBN: 978-3-319-28872-7
eBook Packages: EngineeringEngineering (R0)