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Immobilizing Caging Grasps of Convex Polyhedrons With a Four-Pin Gripper | IEEE Journals & Magazine | IEEE Xplore

Immobilizing Caging Grasps of Convex Polyhedrons With a Four-Pin Gripper


Abstract:

This letter converts one high-dimensional caging configuration into several lower-dimensional cage sets in the translation space and rotation space, through which analysi...Show More

Abstract:

This letter 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 carried out more efficiently. A caging set detection method is introduced based on the constraint region. It is found that a caging on a high-dimensional convex constraint region can be converted into a caging set in low-dimensional sub-region. An efficient method to compute the caging of a polyhedral object using a one-parameter four-pin industrial gripper is then presented. Several simulations and real experiments are conducted to show the efficacy of the proposed methods.
Published in: IEEE Robotics and Automation Letters ( Volume: 6, Issue: 4, October 2021)
Page(s): 7683 - 7690
Date of Publication: 07 July 2021

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