A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is
In partial caging, an object is partially constrained by robots and is able to escape from there. Although complete caging ensures the hand never releases the confined object, insufficient degrees of freedom of robots does not often satisfy the conditions for caging. Partial caging, however, can be accomplished even by robots having such mechanical restriction. We consider a case that an object moves in the semi-closed region formed by a planar robot hand with two fingers, as an example ofdoi:10.1080/01691864.2015.1122551 fatcat:upa4qjz3ozfnhblot4faavcv6m