This paper presents a brief survey of robotic caging and its applications. Caging is a kind of
grasping methods, which can be accomplished geometrically by position-controlled robotic …

Planning and executing object manipulation requires integrating multiple sensory and motor
channels while acting under uncertainty and complying with task constraints. As the modern …

We propose a set of environments with dynamic tasks that involve highly deformable
topologically non-trivial objects. These environments facilitate easy experimentation: offer …

Adapting to uncertainties is essential yet challenging for robots while conducting assembly
tasks in real‐world scenarios. Reinforcement learning (RL) methods provide a promising …

We present a sampling-based approach to reasoning about the caging-based manipulation
of rigid and a simplified class of deformable 3D objects subject to energy constraints …

Multi-fingered robotic hands can potentially offer a higher degree of dexterity for grasping a
variety of parts than a traditional parallel gripper or a custom end of arm tool. However, real …

Deformable objects present a formidable challenge for robotic manipulation due to the lack
of canonical low-dimensional representations and the difficulty of capturing, predicting, and …

This paper presents an efficient algorithm to test whether a planar object can be caged by a
formation of point agents (point fingertips or point mobile robots). The algorithm is based on …

In this work, we propose algorithms to explicitly construct a conservative estimate of the
configuration spaces of rigid objects in two and three dimensions. Our approach is able to …

Caging restricts the mobility of an object without necessarily immobilizing it completely. The
object is caged if it cannot move arbitrarily far from its initial position. Apart from its common …