Abstract

In this paper, we study a method to manipulate objects in position-controlled robot hands: in-hand caging manipulation. In this method, an object is caged by a hand throughout manipulation and located around a goal as a result of the deformation of the cage without sensing the object configuration. A motion planning algorithm for planar in-hand caging manipulation of a circular object is proposed. Planned motions by the algorithm are successfully performed by a two-fingered robot hand. Additionally some examples of 3D in-hand caging manipulation by a four-fingered robot hand are presented.

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