Abstract
This paper addresses the problem of shapeless grasping for a home-use logistical system where a shapeless stable caging approach is forwarded to control ceiling robotic hands. We demonstrate that stable caging is essentially an immobilization grasp that employs least number of fingers by introducing CC obstacles and perform stable caging with least finger number decided by inner Largest Empty Circles (inner LECs). Our system works well with object boundary data generated from one laser scanner and demonstrates its robustness in experiments on daily utilities.
