Abstract
Caging is a method to make an object inescapable from a cage by robot hands. In this paper, we derive sufficient conditions to enclose objects both with polygonal and with spherical shape on the basis of an idea of Object Closure, which was originally derived by Wang et al. With those conditions, various postures of robot hand to achieve caging are determined. As a result, the determination of the hand posture for two-dimensional caging was successfully performed. As for a three-dimensional caging, it also worked successfully with a probabilistic searching instead of definite sufficient conditions of caging.
