Abstract
This paper develops the theory and algorithms for immobilizing/caging polyhedral objects using curved (for example, planar, cylindrical, or spherical) effectors, in contrast to customary point effectors. We show that it is possible to immobilize all polyhedral objects with three effectors with possibly nonzero curvature, with finite extent. We further discuss how to cage the objects and obtain a stable grasp from such a cage. The theory can also be applied to immobilize/cage polygonal objects on the plane. As one application of the theory, we address the problem of whole-arm grasping with robot arms.
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Acknowledgments
We gratefully acknowledge the support of NSF 1328805, 1138847, and ARL Grant W911NF-10-2-0016.
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Seo, J., Yim, M., Kumar, V. (2016). Restraining Objects with Curved Effectors and Its Application to Whole-Arm Grasping. In: Inaba, M., Corke, P. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 114. Springer, Cham. https://doi.org/10.1007/978-3-319-28872-7_24
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DOI: https://doi.org/10.1007/978-3-319-28872-7_24
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