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An object is caged by a formation of fingers when it is blocked by the fingers from moving arbitrarily far away. Although some objects such as those with opposing concave sections can be caged by only two fingers, many other objects require at least three. Rectangles and 3-D convex objects without a supporting plane, for example, require at least four. This paper focuses on multifinger squeezing caging...
When an object is caged by a set of fingers, it cannot move arbitrarily far from the caging fingers regardless of what possible rigid motion it takes. Although this condition makes caging an attractive choice for nonprehensile manipulation, directly computing caging configurations is still a complex process. More importantly, using a cage could be too restrictive than necessary in many real cases...
When an object is caged by a set of fingers, it cannot move arbitrarily far from the caging fingers regardless of what possible rigid motion it takes. Although this condition makes caging an attractive choice for nonprehensile manipulation, it could be too restrictive than necessary in many real cases. This is because some object motions rarely occur in reality. Therefore, some non-caging formations...
One of the ultimate challenges in robotics is to manipulate an arbitrary object without knowing its exact shape beforehand. The shape is rather acquired on the spot via using a laser range scanner, structure from multiple views; therefore, maybe only partially observed and corrupted by a certain degree of noise. We propose an algorithm to identify available failsafe strategies capable of preventing...
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