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Equilateral Three-Finger Caging of Polygonal Objects Using Contact Space Search

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.

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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:
URLURL TypeDescription
Bunis, Hallel A.0000-0003-2914-1889
Rimon, Elon D.0000-0002-8270-6167
Allen, Thomas F.0000-0001-6359-3577
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.
Funding AgencyGrant Number
Israel Science Foundation1253/14
Subject Keywords:Caging, grasping, multifinger robot hands
Issue or Number:3
Record Number:CaltechAUTHORS:20180403-142605109
Persistent URL:
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
Deposited By: Tony Diaz
Deposited On:03 Apr 2018 21:55
Last Modified:15 Nov 2021 20:30

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