Host: The Japan Society of Mechanical Engineers
Name : Mechanical Engineering Congress,Japan
Date : September 11, 2016 - September 14, 2016
Caging-based grasping is a geometry-based method to grasp objects by robot hands with rigid links convered with soft skins. In this paper, we study 2D caging-based grasping, in which objects are held by caging-based grasping horizontally and by friction vertically. 2D caging-based grasping is easier to apply to pick-and-place of a class of objects than 3D caging-based grasping. Conditions of 2D caging-based grasping allow multiple grasping positions, and therefore we aim to decide a grasping position uniquely by optimization. We calculate optimal grasping positions of variously-shaped objects based on the margin of allowable finger positions. The calculated grasping positions are tested in pick-and-place experiments to validate our margin-based grasp synthesis.
