オウ　シトウ   Zhidong Wang   王　志東    所属   千葉工業大学  先進工学部 未来ロボティクス学科    千葉工業大学  工学研究科 工学専攻    千葉工業大学  先進工学研究科 未来ロボティクス専攻    職種   教授
言語種別	英語
発行・発表の年月	2022/01/25
形態種別	学術雑誌
査読	査読あり
標題	Dual CC-Closure Region for Checking Two-Finger Object Caging in a Plane
執筆形態	共著
掲載誌名	IEEE Robotics and Automation Letters
掲載区分	国外
出版社・発行元	IEEE
巻・号・頁	7(2),pp.4024-4031
総ページ数	8
担当区分	最終著者,責任著者
著者・共著者	Koki Shirota, Zhidong Wang
概要	In this letter, we propose an algorithm to check conditions of object caging when two fingers are grasping an object in a plane. Object caging is a method of geometrically constraining a movable range of an object by enclosing the object within end-effectors. Caging method has the advantage that an object can be trapped by only using its shape data, and accurate position control or force control is not required while the object is manipulated without losing. Therefore, a caging-based grasping can be achieved robustly even for objects in daily life environment without accurate models. In this letter, we study the properties of a cagable object while two fingers perform a non-surrounding caging on it. And, we propose a concept of Dual CC-Closure Region which can be applied on condition checking of object caging in reduced R2 sub-space from SE(2) C-Space.