In this paper, we present a novel method for caging-based grasping of deformable objects. This method enables manipulators to grasp objects simply with geometric constraints by using position control of robotic hands, and not through force controls or mechanical analysis. Therefore, this method has cost benefits and algorithmic simplicity. In our previous studies, we mainly focused on caging-based grasping of rigid objects such as 2D/3D primitive-shaped objects. However, considering realistic objects, manipulation of deformable objects is also required frequently. Hence, this study is motivated to manipulate deformable objects, adopting a caging-based grasping approach. We formulate caging-based grasping of deformable objects, and target three types of deformable objects: a rigid object covered with a soft part, a closed-loop structure, and two rigid bodies connected with a string, which can be regarded as primitive shapes. We then derive concrete conditions for grasp synthesis and conduct experimental verification of our proposed method with an industrial manipulator.

中文翻译：

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基于笼子的可变形对象的抓取，用于基于几何的机器人操纵

在本文中，我们提出了一种基于笼子的可变形物体抓取的新方法。通过使用机械手的位置控制，而不是通过力控制或机械分析，该方法使机械手能够简单地在几何约束下抓取物体。因此，该方法具有成本优势和算法简单性。在我们以前的研究中，我们主要关注基于笼子的刚性对象（例如2D / 3D基本形状对象）的抓取。但是，考虑到现实物体，也经常需要对可变形物体进行操纵。因此，本研究的动机是采用基于笼子的抓握方法来操纵可变形物体。我们制定了基于笼子的可变形对象的抓取方式，并针对三种类型的可变形对象：覆盖有软部件的刚性对象，闭环结构，两个用绳子连接的刚体，可以看作原始形状。然后，我们得出用于掌握合成的具体条件，并使用工业机械手对我们提出的方法进行实验验证。