Thi s puper eztcn,ds the caging theory of R i m o n and Bluke [ill for. orre-parameter two-finger grippers t o orwparame tar three-finger grippers. T h e caging theory describes lroui the f ingers of a robot gripper can be placed uroumd u n object so tha t it cannot escape. A s the fiingers close f r o m such a configuration, the f reedom of the object t o move is gradually restricted, unti l ,...
