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Robust three-finger three-parameter caging of convex polygons

Allen, Thomas F. and Rimon, Elon and Burdick, Joel W. (2015) Robust three-finger three-parameter caging of convex polygons. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 4318-4325. ISBN 978-1-4799-6923.

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This paper studies cages of convex polygonal objects using three point fingers. The fingers are said to cage the object when it is impossible to move the object arbitrarily far from its initial placement without penetrating the fingers. We consider a three-parameter model of the relative position of the fingers, which gives complete generality for three point fingers in the plane. We consider robustness of caging grasps - what variations in the relative position of the fingers is allowed without breaking the cage. Using a simple decomposition of free space around the polygon, we present an algorithm which gives all caging placements of the fingers and a characterization of the robustness of these cages, albeit at the cost of significant computational complexity.

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Additional Information:© 2015 IEEE.
Record Number:CaltechAUTHORS:20150720-133921009
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Official Citation:Allen, Thomas F.; Rimon, Elon; Burdick, Joel W., "Robust three-finger three-parameter caging of convex polygons," Robotics and Automation (ICRA), 2015 IEEE International Conference on , vol., no., pp.4318,4325, 26-30 May 2015 doi: 10.1109/ICRA.2015.7139795 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:58949
Deposited By: Tony Diaz
Deposited On:21 Jul 2015 20:56
Last Modified:03 Oct 2019 08:41

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