Rope Caging and Grasping
T.H. Kwok
W. Wan
J. Pan
Charlie Wang (TU Delft - Materials and Manufacturing)
J. Yuan
K Harada
Y. Chen
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Abstract
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
considered in our approach. Our algorithm can guarantee generating local minimal rings on every topological branches of a given model with the help of a Reeb graph. Cages and
grasps can then be computed from these rings, and physical experimental tests have been conducted to verify the robustness of our approach.