- 一般社団法人 日本ロボット学会
- 日本ロボット学会誌 (ISSN:02891824)
- vol.38, no.5, pp.496-501, 2020 (Released:2020-06-17)
This paper presents a novel measurement method for caging quality based on static analysis of robotic grasping and manipulation. Caging is a geometrical constraint of objects in which those captured by surrounding robots are restricted to move in the bounded space. The object constraint with some margin is a promising tool to allow uncertainties appearing in object perception and robot control. Because of limitation of robot configuration, complete caging that the object never escape from is, however, not accomplished sometimes, and the target object is partially caged. As for such partial caging, the quality of geometrical constraint has not been sufficiently evaluated. In this paper, we propose an evaluation index of the quality based on the robustness of grasping and manipulation in order to deal with both caging and mechanical constraint simultaneously. Some numerical results are presented to validate our proposed procedure of evaluation.