抄録
In this paper, we studied 2D in-hand caging manipulation, in which an object is manipulated geometrically in a robot hand. We classified robot hands for in-hand caging manipulation according to their mechanism and manipulation characteristics. In-hand manipulation tasks were also classified according to allowable goal configurations. Finally, we proposed several designs of robot hands for in-hand caging manipulation. Prototypes of some of them were built and verified.
