An Algorithm on Checking 3-Finger Object Caging in 3D by Using Dual CC-Closure Region Concept

In this paper, we propose an algorithm on checking three-finger 3D object caging. Object caging is a method of geometrically restraining the limited movable range of an object. The advantage of this method is that the object can be trapped only by using its shape data with certain uncertainties, without force control and position control in handling an object. For this reason, grasping using caging can handle with high robustness even for objects that do not have accurate models in a daily life environment. We define a trappable object that can be realized with three point-type fingers by partial non-surrounding caging. And, we propose a Dual CC-Closure Region that can be used for checking object caging in 3D with less calculation cost.