Two- and three-dimensional caging-based grasping of objects of various shapes with circular robots and multi-fingered hands

This paper describes a geometrical method for grasping objects wherein an object is caged by rigid parts of a robot hand and simultaneously grasped by soft parts attached to said rigid parts. We term this process as caging-based grasping. In this study, we derive concrete conditions for two- and three-dimensional caging-based grasping of objects of various shapes using circular robots and multi-fingered robot hands. Then, we validate the derived conditions by performing caging-based grasping experiments.