Enveloping grasp for multiple objects

This paper discusses the enveloping grasp of multiple objects under rolling contacts. We first provide a general mathematical formulation on the kinematic relationship for multiple objects enveloped by a multifingered robot hand, and then derive a condition for judging whether the rolling condition can be satisfied at each contact point. We also show a sufficient condition for rolling up any two objects grasped by a multifingered robot hand in contact with them. Finally, an experimental result is shown to confirm how easily two cylindrical objects can be enveloped by a simple grasping motion