Geometry-based Manipulation of Deformable Objects by Caging-based Grasping

Abstract

This paper presents a method to grasp deformable objects with position-controlled robot hands based on caging. We derive a sufficient condition for caging-based grasping of two rigid objects connected by a string, as an example of deformable objects. We also verify the condition by experiments with an industrial robot. This shows an example of geometry-based manipulation, which requires no mechanical information.