Bunis, Hallel A. and Rimon, Elon D. and Allen, Thomas F. and Burdick, Joel W. (2018) Equilateral Three-Finger Caging of Polygonal Objects Using Contact Space Search. IEEE Transactions on Automation Science and Engineering, 15 (3). pp. 919-931. ISSN 1545-5955. doi:10.1109/TASE.2018.2816683. https://resolver.caltech.edu/CaltechAUTHORS:20180403-142605109
Full text is not posted in this repository. Consult Related URLs below.
Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20180403-142605109
Abstract
Multifinger caging offers a robust object grasping approach. However, while efficient computation of two-finger caging grasps is well developed, the computation of three-finger caging grasps has remained a challenge. This paper considers the caging of polygonal objects with three-finger hands which maintain an equilateral triangle formation during the grasping process. While the c-space of such hands is 4-D, their contact space that represents all two and three finger contacts along the grasped object's boundary forms a 2-D stratified manifold. The paper describes a caging graph that can be constructed in the hand's relatively simple contact space. Starting from a desired immobilizing grasp of the polygonal object, the caging graph can be readily searched for the largest finger opening that maintains a three-finger cage about the object to be grasped. Any equilateral finger placement within the corresponding caging regions guarantees robust object grasping.
| Item Type: | Article | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Related URLs: |
| |||||||||
| ORCID: |
| |||||||||
| Additional Information: | © 2018 IEEE. Manuscript received April 30, 2017; accepted February 9, 2018. Date of publication April 2, 2018; date of current version July 2, 2018. This paper was recommended for publication by Associate Editors R. Alterovits and K. Bekris and Editor S. Reveliotis upon evaluation of the reviewers’ comments. This work was supported by the Israel Science Foundation under Grant 1253/14. | |||||||||
| Funders: |
| |||||||||
| Subject Keywords: | Caging, grasping, multifinger robot hands | |||||||||
| Issue or Number: | 3 | |||||||||
| DOI: | 10.1109/TASE.2018.2816683 | |||||||||
| Record Number: | CaltechAUTHORS:20180403-142605109 | |||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20180403-142605109 | |||||||||
| Official Citation: | H. A. Bunis, E. D. Rimon, T. F. Allen and J. W. Burdick, "Equilateral Three-Finger Caging of Polygonal Objects Using Contact Space Search," in IEEE Transactions on Automation Science and Engineering, vol. 15, no. 3, pp. 919-931, July 2018. doi: 10.1109/TASE.2018.2816683 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 85582 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | Tony Diaz | |||||||||
| Deposited On: | 03 Apr 2018 21:55 | |||||||||
| Last Modified: | 15 Nov 2021 20:30 |
Repository Staff Only: item control page
