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 MoreMetadata
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)