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Two-Finger Caging of Polygonal Objects Using Contact Space Search

Allen, Thomas F. and Burdick, Joel W. and Rimon, Elon (2015) Two-Finger Caging of Polygonal Objects Using Contact Space Search. IEEE Transactions on Robotics, 31 (5). pp. 1164-1179. ISSN 1552-3098.

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Multifinger caging offers a rigorous and robust object grasping approach. Focusing on two-finger caging, this paper describes an algorithm for finding all two-finger cage formations of planar polygonal objects based on contact-space formulation. The paper shows that two-finger cages have 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 the interfinger distance function in contact space. Second, these critical points can be graphically characterized directly on the object's boundary. Third, contact space admits a natural rectangular decomposition such that all critical points lie on the rectangle boundaries, and the sublevel sets of contact space and free space are topologically equivalent. These properties lead to a caging graph that can be readily constructed in contact space. Starting from a desired immobilizing grasp of a polygonal object, the caging graph is searched for the minimal, intermediate, and maximal caging regions surrounding the immobilizing grasp. An example constructed from real-world data illustrates and validates the method.

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Additional Information:© 2015 IEEE. Manuscript received November 6, 2014; revised May 4, 2015; accepted July 28, 2015. Date of publication September 11, 2015; date of current version September 30, 2015. This paper was recommended for publication by Associate Editor E. Yoshida and Editor C. Torras upon evaluation of the reviewers’ comments. 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.
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Army Research Office (ARO)UNSPECIFIED
Subject Keywords:Caging, grasping
Issue or Number:5
Record Number:CaltechAUTHORS:20151006-103005960
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Official Citation:Allen, T.F.; Burdick, J.W.; Rimon, E., "Two-Finger Caging of Polygonal Objects Using Contact Space Search," in Robotics, IEEE Transactions on , vol.31, no.5, pp.1164-1179, Oct. 2015 doi: 10.1109/TRO.2015.2463651 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:60803
Deposited By: Tony Diaz
Deposited On:06 Oct 2015 18:05
Last Modified:03 Oct 2019 09:00

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