This paper presents a brief survey of robotic caging and its applications. Caging is a kind of
grasping methods, which can be accomplished geometrically by position-controlled robotic …

We study two-and three-finger caging grasps of a given polygonal object with n edges. A
grasp is said to cage an object when it is impossible to take the object to a distant location …

Building on the well-established form closure framework for holding rigid parts, in this paper
we propose a new framework for holding deformable parts. We consider the class of …

This book provides a fundamental knowledge of robotic grasping and fixturing (RGF)
manipulation. For RGF manipulation to become a science rather than an art, the content of …

This paper considers grasp planning in the presence of shape uncertainty and explores how
cloud computing can facilitate parallel Monte Carlo sampling of combination actions and …

Multifinger caging offers a rigorous and robust object grasping approach. Focusing on two-
finger caging, this paper describes an algorithm for finding all two-finger cage formations of …

The property of form-closure of a grasp, as generally defined in the literature, is based on the
assumption that contact points between the hand and the object are fixed in space …

We explore setting bounds on part tolerances based on an adaptive Cloud-based algorithm
to estimate lower bounds on achieving force closure during grasping. We consider the most …

We address the problem of synthesizing planar, bimanual, whole-arm grasps by developing
the abstraction of an open chain gripper, an open, planar chain of rigid links and revolute …

The immobilization of non-rigid objects is a largely unaddressed subject. We explore the
problem by studying the immobilization of a serial chain of polygons connected by rotational …