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We propose to synthesize feasible caging grasps for a target object through computing Caging Loops, a closed curve defined in the shape embedding space of the object.
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R. Diankov, S. S. Srinivasa, D. Ferguson, and J. J. Kuffner, “Manipulation planning with caging grasps,” in Humanoids , 2008
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M. Vahedi and A. F. van der Stappen, “Caging convex polygons with three fingers,” 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp. 1777–1783, 2008
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T. K. Dey, J. Sun, and Y. Wang, “Approximating loops in a shortest homology basis from point data,” in Symposium on Computational Geometry , 2010
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A. Rodriguez, M. T. Mason, and S. Ferry, “From caging to grasping,” I. J. Robotics Res. , vol. 31, pp. 886–900, 2011
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2013
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J. A. Stork, F. T. Pokorny, and D. Kragic, “Integrated motion and clasp planning with virtual linking,” 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp. 3007–3014, 2013
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T.-H. Kwok, W. Wan, J. Pan, C. C. L. Wang, J. Yuan, K. Harada, and Y. Chen, “Rope caging and grasping,” 2016 IEEE International Conference on Robotics and Automation (ICRA) , pp. 1980–1986, 2016
2016
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