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| Caging Grasp of 3D Objects with a Three-finger Gripper |
| SU Jianhua1, LIU Chuankai2, WANG Zhiwei3, HUANG Kaiqi3 |
1. Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China;
2. Beijing Aerospace Control Center, Beijing 100094, China;
3. Jiangxi University of Science and Technology, Ganzhou 341000, China |
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Abstract The caging grasps of 3D polyhedron and polyhedron-like objects with a three-finger gripper are studied. For the detection problem of grasp configuration, the high-dimensional cage is converted into several lower-dimensional cage sets, to reduce the computation cost. A detection method of the caging grasp configuration is proposed based on the constraint region formed by the gripper fingers in the configuration space. The caging grasp configurations detected by the proposed method can converge to a partial form-closure grasp configuration. Finally, the effectiveness of the proposed method is demonstrated by experiments on a Barrett hand.
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Received: 08 June 2020
Published: 07 April 2021
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