Experimental Approach on Grasping and Manipulating Multiple Objects

This paper discusses grasping and manipulating multiple objects by an enveloping style. We formulate the motion constraint for enveloping multiple objects under rolling contacts. We further provide a sufficient condition for producing a relative motion between objects. We show that a three-fingered robot hand experimentally succeeds in lifting up two cylindrical objects from a table and in changing their relative positions within the hand.

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