抄録
We propose a novel approach to grasping by rigid robots covered with soft parts: caging-based grasping. This method is caging an object by the rigid parts of a robot and grasping by the soft parts which deform as a reaction to the object. Consequently, the object is grasped by reaction forces of the deformed soft parts. It does not require the mechanical analysis of grasping, but requires only geometrical information. Therefore, it can easily grasp and manipulate objects in various shapes. In this paper, we derive concrete conditions for 2D and 3D caging-based grasping of objects in various shapes, and show experimental results in which robots can grasp and manipulate objects using the conditions.
