Computation and Selection of Secure Gravity Based Caging Grasps of Planar Objects
A. Shirizly,E. D. Rimon,A. Shirizly,E. D. Rimon
Gravity based caging grasps are robotic grasps where the robot hand passively supports an object against gravity. When a robot hand supports an object at a local minimum of the object gravitational energy, the robot hand forms a basket like grasp of the object. Any object movement in a basket grasp requires an increase of the object gravitational energy, thus allowing secure object pickup and tran...
