IEEE Robotics & Automation Magazine - September 2017 - 91

yg
(x4,y4)
c1

Pin-2

c2
og

ob
c3

xg

θz

(x3,y3)

g 1/cm

Pin-1

(x1,y1)
15
10
5
0
2

(x2,y2)

Attractive Region
a2 a
1
1

0

y /cm

-1
-0.5

-1

-2

Pin-3

-3

2
1.5 θ /rad
-4

(a)

1

(b)
Pin-2

Pin-1

Pin-1

Pin-2

Pin-3

Pin-3
(c)

(d)

y /cm

a2
0
-0.5
0 5 0.2

6

Attractive
Region

a1

0.1

0

-0.1

6

4
2
0
-2
-4

-0.2
-

-6

θ /rad

4
Pin-2

Pin-1

4 6
x /cm
(b)

2

Pin-1

0
-2
-4

Pin-3
-4 -2 0 2

(a)

y /cm

40
30
20
10
0
0.5

y /cm

g (X )/cm

Figure 9. (a) The attractive region with the boundary depicted with a red line, (b) the form-closure grasping cage for the point a 1,
(c) the form-closure grasp for the minimum point a 2, and (d) the form-closure grasp.

Pin-3

-6
8 10 12

Pin-2

-4 -2 0 2

4 6
x /cm
(c)

8 10 12

Figure 10. (a) The attractive region formed in the subspace related to ^ y, i z, gh ; the red curve is the boundary of the attractive region,
(b) the form-closure grasping cage corresponding to point a 1 of the attractive region, and (c) the form-closure grasp corresponding to
the minimum point a 2 of the attractive region.

(a)

(b)

(c)

(d)

Figure 11. (a) The gripper approach to the rod, (b) the form-closure grasping cage, (c) the cage finally achieving a form-closure grasp,
and (d) the rod after it has been picked up.
SEPTEMBER 2017

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2017

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