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In general, any object can be restricted or caged within a bounded region if we evenly place a sufficient number of fingers around the object. This naive approach often leads to inefficient utilization of fingers because only two fingers are sufficient to cage most nonconvex objects. In this paper, we propose an algorithm that identifies all the caging sets, i.e., set of two-finger placements that...
Programmable force field, as a generalized supporting concept for universal part feeder, has been researched and developed for decades. A variety of fields has been proposed, most focused to the fewest possible part positions and orientations. However, there are more factors needed to be concerned in practical use, such as time consumed for part manipulation, or ability of the actual devices to create...
The object caging problem focuses on designing a formation of fingers that keeps an object within a bounded space without immobilizing it. This paper addresses the problem of designing such formation for object represented by a polytope in any finite dimensional workspace and for any specified number of pointed finger. Our goal is to characterize all the caging sets, each of which corresponds to a...
This paper addresses the problem of optimizing the maximal independent contact region for two-fingered force- closure grasp of a rigid object in 2D. Existing methods for optimizing this criterion considered only independent graspable regions on a given pair of edges. We propose an algorithm that takes nearby edges into consideration so that larger independent contact regions can be obtained. Our method...
The problem of object caging is defined as a problem of designing a formation of fingers to restrict an object within a bounded space. Assuming two pointed fingers and a rigid polygonal or polyhedral object, this paper addresses the problem of two-finger squeezing caging, i.e., to characterize all possible formations of the fingers that are capable of caging the object via limiting their separation...
An object is captured by a set of fingers when there exists no trajectory to bring the object arbitrarily far from the fingers. Object concavity is a special geometric property that allows objects to be captured with only few fingers. In particular, certain concave objects may be captured by appropriately placing two fingers close to some pair of opposite concave sections. This paper addresses the...
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