IROS2013 Fullday Workshop on  
Caging and Its Applications in Grasping/Multi-agent Cooperation  

     Caging aims at constraining target objects like a bird cage. 

     It is a pure geometric problem and requires no explicit force/contact analysis.

     We like caging, we believe in caging and we would like to spread caging to your research and applications.

     Join us on Nov.7, 2013 in Tokyo Big Site and find out if caging solves your problems!


       Important Dates:    Paper Submission: Jun.6,2013-Oct.7,2013    

                                        Notification of Acceptance: Oct.15, 2013

                                        Submission of Final papers: Oct.25, 2013

       Paper Submission:   Click here 

What is caging? Why is it promising?

    Caging has attracted great attention in recent years owing to its robustness in control uncertainty and perception uncertainty. The robustness not only improves the performance of robots in unstructured or unknown environments but also offers access to low-cost devices and simple mechanisms. Caging is pure geometric which saves us from explicit force analysis. However, like many research fields in robotics, significant gaps exist between caging theories and real-world applications. We in this workshop aim at bridging these gaps, especially in the research field of grasping and multi-agent cooperation. On the one hand, this workshop will discuss basic theories of caging, its relationship to immobilization, force/form closure grasping and its advantages comparing with other geometric algorithms. On the other hand, it will also bring participants to various applications of caging in robotics, ranging from designing and creating low-cost robot platforms to writing robust robot softwares.

Intended audience

    We are confident that caging is helpful to researchers in the following fields.

    We also expect other researchers who are struggling with problems caused by uncertainty.

    Field 1. Robotic grasping, especially the researchers who work on unknown objects or sensorless grasping synthesis.

    Field 2. Distributed multi-agent cooperation, especially the researchers who are struggling with explicit force analysis and task planning.

    Field 3. Micro/nano manipulation, especially the researchers who are trapped by unclear forces in micro/nano scope worlds.

Main Topics

1. Caging theories
    1.1 Caging with two/three-finger one-actuator grippers
     1.2 Caging from the viewpoint of computational geometry
        1.3 Caging from the viewpoint of configuration spaces
        1.4 Caging as a pre-grasping procedure
        1.5 3D Caging
        1.6 From grasping to caging
        1.7 General caging-like algorithms (Enveloping, etc)
    2. Applications of caging
        2.1 Distributed multi-agent cooperation
        2.2 Grasping by caging -- Integrated planning and grasping
        2.3 Designing robotic hands based on caging
        2.4 Caging-based micro/nano manipulation
        2.5 General applications that use related algorithms

Figure. From bird cage to hand cage

List of speakers (Alphabetical order)

    Aaron Ohta, University of Hawaii (Research field: Micro/Nano robotics. URL:

        Title: Optically Controlled Microrobots for the Microassembly of Living Cells

    Ashutosh Saxena, Cornell University (Research field: Grasping. URL:

        Title: Modeling Uncertainty in Caging using Machine Learning for Manipulation Tasks
        Topics: (1) How to use caging in learning algorithm, so that one can deal with uncertainty and noise.
                      (2) Caging for purpose, specially "gravity-caging for placing".

    Berenson Dmitry, Worcester Polytechnic Institute (Research field: Grasping. URL:

        Title: Using Grasp Affordances to Compensate for Uncertainty

    Florian T. Pokorny, KTH Royal Institute of Technology (Research field: Grasping, URL:

        Title: Novel Geometric and Topological Techniques for Synthesizing Caging Grasps

    Hong Qiao (Jianhua Su), Chinese Academy of Science (Research field: Grasping, URL:
        Title: Caging Strategies of 3D Objects based on "Attractive Region in Environment"

    Nattee Niparnan, Chulalongkorn University (Research field: Grasping, URL:

        Title: Computation of Caging by Combining Squeezing and Stretching

    Rui Fukui, The University of Tokyo (Research field: Service Robot, URL:

        Title: Robot Mechanism Design to Take the Advantage of Caging


    Weiwei Wan, The University of Tokyo (URL:

    Alberto Rodriguez, Carnegie Mellon University (URL:

    David J. Cappelleri, Purdue University

    Jianhua Su, Chinese Academy of Science

    Satoshi Makita, Sasebo National College of Technology (URL:


Time Title Speaker Download
9:10-9:30 Introduction Dr. Weiwei Wan Slide
9:30-10:00 Prof. Rui Fukui Slide
10:00-10:30 Prof. Dmitry Berenson Slide
11:00-11:30 Dr. Florian Pokorny Slide
11:30-12:00 Prof. Aaron Ohta Slide
12:00-12:30 Prof. David Cappelleri Slide
13:30-14:00 Prof. Jianhua Su Slide
14:00-14:30 Prof. Ashutosh Saxena Slide (N/A)
14:30-15:00 Prof. Nattee Niparnan Slide (N/A)
15:00-15:30 Prof. Satoshi Makita Slide
16:00-16:15 Dr. Aaron Becker Paper
16:15-16:30 Dr. Hesham Haridi Paper
16:30-16:45 Mr. Tomohiro Egawa Paper
16:45-17:00 Post discussion & Closing

Paper submission and presentation

    We invite submissions of 1-4 page extended abstract (PDF format) which should be submitted for review using the outline below.

    1. Motivation and related works

    2. Technical Approach

    3. Experiments and Results

    4. Insight Analysis

    Please go to papersubmission or send emails to co-organizers directly to submit your contribution.

    We accept accompanying multimedia materials like mp4, avi, mpg, mov, etc. They should be no more than 5MB.
    Each submission will be reviewed by at least two of our co-organizers. If the submission is accepted, authors are required to submit a full version of their papers taken into account of the review coments. Each accepted paper will be required to give a 15-minute presentation during the workshop (10 minutes for presentation, 5 minutes for discussion).

    In case of extra questions, send email to Weiwei Wan (wan at ics dot t dot u-tokyo dot ac dot jp).