Hostname: page-component-5d84bcc8dc-npqs8 Total loading time: 0 Render date: 2026-08-23T01:50:38.495Z Has data issue: false hasContentIssue false
  • English
  • Français

Form-closure caging grasps of polygons with a parallel-jaw gripper

Published online by Cambridge University Press:  03 April 2014

Jianhua Su ,
Zhicai Ou  and
Hong Qiao
Jianhua Su*
Affiliation:
The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
Zhicai Ou
Affiliation:
The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
Hong Qiao
Affiliation:
The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
*
*Corresponding author. E-mail: jianhua.su@ia.ac.cn
Get access Rights & Permissions [Opens in a new window]

Summary

Parallel-jaw gripper finds wide applications in various industrial sectors. In this paper, we mainly focus on the problem of form closure caging grasps of polygons with a parallel-jaw gripper equipped with four fingers. The form closure caging grasp is helpful for the fingers placements and contact region selections of a pneumatic gripper, as it is less sensitive to fingers misplacements.

We firstly prove that there is always a path from a cage to a form closure grasp of the object that never breaks the cage, as long as the attractive region constructed in the configuration space has a local minimum. If such a minimum cannot be found, we further adjust the fingers arrangements to produce the form closure grasp. Meanwhile, we also develop an algorithm to compute the initial cage of the form closure grasp. Simulations of the grasping process witness the effectiveness of the above analysis results.

Keywords

Parallel-jaw gripperCaging graspsAttractive region

Information

Type
Articles
Information
Robotica , Volume 33 , Issue 6 , July 2015 , pp. 1375 - 1392
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1. Bicchi, A. and Kumar, V., “Robotic Grasping and Contact: A Review,” Proceedings of the IEEE International Conference on Robotics and Automation (2000) pp. 348–353.Google Scholar
2. Brost, R. C. and Goldberg, K. Y., “A complete algorithm for designing planar fixtures using modular components,” IEEE Trans. Robot. Autom. 12 (1), 31–46 (1996).Google Scholar
3. Davidson, C. and Blake, A., “Caging Planar Objects with a Three-Finger One-Parameter Gripper,” Proceedings of the IEEE International Conference on Robotics and Automation (1998a) pp. 2722–2727.Google Scholar
4. Davidson, C. and Blake, A., “Error-tolerant visual planning of planar grasp,” Proceedings of the IEEE International Conference on Computer Vision (1998b) pp. 911–916.Google Scholar
5. Diankov, R., Srinivasa, S., Ferguson, D. and Kuffner, J., “Manipulation Planning with Caging Grasps,” Proceedings of the IEEE International Conference on Humanoid Robots (2008) pp. 285–292.Google Scholar
6. Erickson, J., Thite, S., Rothganger, F. and Ponce, J., “Capturing a Convex Object with Three Discs,” Proceedings of the IEEE International Conference on Robotics and Automation (2003) pp. 2242–2247.Google Scholar
7. Kuperberg, W., “Problems on Polytopes and Convex Sets,” DIMACS Workshop on Polytopes (1990) pp. 584–589.Google Scholar
8. Kriegman, D. J., “Let Them Fall Where They May: Capture Regions of Curved 3D objects,” Proceedings of the IEEE International Conference on Robotics and Automation (1994) pp. 595–601.Google Scholar
9. Nguyen, V. D., “Constructing Force-Closure Grasps,” Proceedings of the IEEE International Conference on Robotics and Automation (1986) pp. 1368–1373.Google Scholar
10. Pipattanasomporn, P. and Sudsang, A., “Two-finger caging of nonconvex polytopes,” IEEE Trans. Robot. 27 (2), 324–333 (2011).Google Scholar
11. Qiao, H., “Two- and three-dimensional part orientation by sensor-less grasping and pushing actions: use of the concept of “attractive region in environment”,” Int. J. Prod. Res. 41 (14), 3159–3184 (2003).Google Scholar
12. Qian, W. H., Qiao, H. and Tso, S. K., “Synthesizing two-fingered grippers for positioning and identifying objects,” IEEE Trans. Syst. Man Cybern. 31 (4), 602–615 (2001).Google Scholar
13. Rimon, E. and Blake, A., “Caging 2D bodies by 1-parameter two-fingered gripping systems,” Proceedings of the IEEE International Conference on Robotics and Automation (1996) pp. 1458–1464.Google Scholar
14. Rodriguez, M. T. M. and Ferry, S., “From caging to grasping,” Int. J. Robot. Res. (2012). doi: 10.1177/0278364912442972.Google Scholar
15. Sudsang, A. and Ponce, J., “On Grasping and Manipulating Polygonal Objects with Disc-Shaped Robots in the Plane,” Proceedings of the IEEE International Conference on Robotics and Automation (1998) pp. 2740–2746.Google Scholar
16. Sudsang, A., “A Sufficient Condition for Capturing an Object in the Plane with Disc-Shaped Robots,” Proceedings of the IEEE International Conference on Robotics and Automation (2002) pp. 682–687.Google Scholar
17. Vahedi, M. and Van der Stappen, A. F., “Geometric Properties and Computation of Three-Finger Caging Grasps of Convex Polygons,” Proceedings of the IEEE International Conference on Automation Science and Engineering (2007) pp. 404–411.Google Scholar
18. Vahedi, M. and Van der Stappen, A. F., “Caging polygons with two and three fingers,” Int. J. Robot. Res. 27 (11), 1308–1324 (2008).Google Scholar
19. Wan, W.W., Fukui, R., Shimosaka, M., Sato, T. and Kuniyoshi, Y., “Grasping by Caging: A Promising Tool to Deal with Uncertainty,” Proceedings of the IEEE International Conference Robotics and Automation (2012) pp. 5142–5149.Google Scholar
20. Aleotti, J. and Caselli, S., “A 3D shape segmentation approach for robot grasping by parts,” Robot. Auton. Syst. 60, 358–366 (2012).Google Scholar
21. Qiao, H., “Strategy Investigation with Generalized Attractive Regions,” Proceedings of the IEEE International Conference on Robotics and Automation (2002) pp. 3315–3320.Google Scholar