変形可能物体のケージングベースト把持

抄録

In this paper, we study “caging-based grasping,” a new method for robotic manipulation. This method enables manipulators to grasp objects simply using position control, not force control. In our previous study, the target of caging-based grasping is limited to rigid objects. However, there is much demand for grasping deformable objects in the real world. The purpose of this paper is to extend caging-based grasping to deformable objects. We formulate caging-based grasping of deformable objects, derive concrete conditions for grasp synthesis, and validate this method through experiments.