Rope Caging and Grasping

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 beenconsidered 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 andgrasps can then be computed from these rings, and physical experimental tests have been conducted to verify the robustness of our approach.Author accepted manuscriptMaterials and Manufacturin