Grasp Planning With a Soft Reconfigurable Gripper Exploiting Embedded and Environmental Constraints

Grasping in unstructured environments requires highly adaptable and versatile hands together with strategies to exploit their features get robust grasps. This letter presents a method grasp objects using novel reconfigurable soft gripper embodied constraints, the Soft ScoopGripper (SSG). The considered strategy, called scoop grasp, exploits SSG perform constraint, i.e., scoop, is used slide between object flat surface (e.g., table, wall) contact it. fingers are first configured according geometry then establish reliable contacts work introduces an algorithm that, given point cloud, computes best pre-grasp configuration from which start strategy. Several experimental trials different scenarios confirmed effectiveness of proposed method.