CC-closure object and object closure margin of object caging by using multiple robots

This paper addresses the problem of multi-robots object caging and transportation by using the concept of object closure. The concept CC-closure object, which is used for efficient testing of object closure and the definition of the object closure margin, which is used for implementing the object closure concept, is described. Finally, an example of object closure constructed from both bodies and hands of mobile-manipulators is discussed and an experiment is presented for illustrating the proposed concept.