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 …

Grasping and assembly are essential tasks in high-precision robotic manipulation for
industrial manufacturing as well as for home service applications. Many efforts have been …

In this paper, we propose a control algorithm to collectively transport an object using a group
of relatively low-cost robots. We address this problem using the robust caging, which …

Caging grasps are valuable as they can be robust to bounded variations in object shape
and pose, do not depend on friction, and enable transport of an object without full …

Multifinger caging offers a rigorous and robust object grasping approach. Focusing on two-
finger caging, this paper describes an algorithm for finding all two-finger cage formations of …

Development of a flexible low-cost robotic system to grasp various 3D workpieces is of
practical important. Traditional approaches on 3D grasping usually need to compute the …

We present a novel method for caging grasps in this paper by stretching ropes on the
surface of a 3D object. Both topology and shape of a model to be grasped has been …

Dexterous grasping is one of the most fundamental abilities of robots to implement various
manipulation tasks. Robots should have the same ability as humans to plan various grasp …

For applications such as manufacturing, caging grasps restrict object motion without
requiring complete immobilization, providing a robust alternative to forceand form-closure …

In various industries, there is a need for low-cost, flexible robotic grasping systems that
handle and classify different items, which usually involve low-cost grippers and reliable …