Abstract
In this paper, three-dimensional caging by a multifingered hand (3D multifingered caging) with actual robots is studied. Caging is a method to make an object inescapable from the cage composed by the robot bodies. In our previous work, we formulated caging problems, derived sufficient conditions for caging, and proposed a method to plan robot motion for caging using the sufficient conditions. In this paper, we experiment 3D multifingered caging with actual robots. We classify 3D multifingered caging into three typical types and propose some strategies for caging objects in various shapes. We also show some experimental results of 3D multifingered caging and caging manipulation of various objects with an actual robot hand.
