E. Rimon and A. Blake: “Caging Planar Bodies by One-Parameter Two-Fingered Gripping Systems,” The International Journal of Robotics Research, vol. 18, no. 3, pp. 299-318, 1999.
S. Makita and W. Wan: “A Survey of Robotic Caging and Its Applications,” Advanced Robotics, vol. 31, no. 19-20, pp. 1071-1085, 2017.
前田雄介, 槇田諭, 小寺直樹, 沖田賢亮, 浅村知洋: “ケージングを用いた幾何ベーストマニピュレーション”, 第16回ロボティクスシンポジア予稿集, pp. 499-505, 2011.
D. Kim, Y. Maeda and S. Komiyama: “Caging-based Grasping of Deformable Objects for Geometry-based Robotic Manipulation,”ROBOMECH J., vol. 6, no. 1, 3, 2019.