Design and Validation of a Manoeuvering Caging Gripper for Cluttered Environments: A mechanical approach for grasping in cluttered environments

This research proposes and validates a novel grasping principle to be able to set caging grasps in cluttered environments. A prototype is designed making use of manoeuvering fingers which propagate along the object surface and are covered with everting belts to minimize slip and thus friction forces on the object and environment. Using several...