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Two-fingered caging of polygons via contact-space graph search

Allen, Thomas and Burdick, Joel and Rimon, Elon (2012) Two-fingered caging of polygons via contact-space graph search. In: 2012 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 4183-4189. ISBN 978-1-4673-1403-9.

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Based on a novel contact-space formulation, this paper presents a new algorithm to find two-fingered caging grasps of planar polygonal objects. We show that the caging problem has several useful properties in contact space. First, the critical points of the cage representation in the hand's configuration space appear as critical points of an inter-finger distance function in contact space. Second, the critical points of this distance function can be simply characterized. Third, the contact space admits a rectangular decomposition where the distance function is convex in each rectangle, and all critical points lie on the rectangle boundaries. This property leads to a natural “caging graph,” which can be readily searched to construct the caging sets. An example, constructed from real-world data illustrates and validates the method.

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Additional Information:© 2012 IEEE. Date of Current Version: 28 June 2012. This work was performed for the Jet Propulsion Laboratory, California Institute of Technology, with funding from the DARPA Autonomous Robotic Manipulation Software Track (ARM-S) and the U.S. Army under the Robotics Collaborative Technology Alliance through an agreement with the National Aeronautics and Space Administration.
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Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
U. S. Army Robotics Collaborative Technology AllianceUNSPECIFIED
Record Number:CaltechAUTHORS:20120703-091350574
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Official Citation:Allen, Thomas; Burdick, Joel; Rimon, Elon; , "Two-fingered caging of polygons via contact-space graph search," Robotics and Automation (ICRA), 2012 IEEE International Conference on , vol., no., pp.4183-4189, 14-18 May 2012 doi: 10.1109/ICRA.2012.6225281 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:32248
Deposited By: Tony Diaz
Deposited On:06 Jul 2012 20:57
Last Modified:03 Oct 2019 03:59

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