パウチ状物体を含む変形可能物体のケージングベースト把持

抄録

Caging is a method of object constraining based on geometric information. Compared with conventional grasping, caging requires less information and simpler algorithm, but it cannot determine the position and posture of the object in the hands of robots. Our group proposed a new grasping method that takes advantage of caging called “caging-based grasping.” Until now, rigid objects were mainly considered as the target of caging-based grasping. There is, however, much demand for grasping various deformable objects in the real world. The purpose of this paper is to extend caging-based grasping to various deformable objects. We focused on caging-based grasping of some kinds of deformable objects including pouches.