Rope Caging and Grasping

T.H. Kwok, W. Wan, J. Pan, Charlie Wang, J. Yuan, K Harada, Y. Chen

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

17 Citations (Scopus)
26 Downloads (Pure)


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.
Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation
Place of PublicationPiscataway
PublisherIEEE Society
Number of pages7
ISBN (Electronic)978-1-4673-8026-3
ISBN (Print)978-1-4673-8025-6
Publication statusPublished - 2016
EventIEEE International Conference on Robotics and Automation (ICRA 2016) - Stockholm, Sweden
Duration: 16 May 201621 May 2016


ConferenceIEEE International Conference on Robotics and Automation (ICRA 2016)

Bibliographical note

Author accepted manuscript


  • graph theory
  • grippers
  • object recognition


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