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Grasping

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Springer Handbook of Robotics

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Abstract

This chapter introduces fundamental models of grasp analysis. The overall model is a coupling of models that define contact behavior with widely used models of rigid-body kinematics and dynamics. The contact model essentially boils down to the selection of components of contact force and moment that are transmitted through each contact. Mathematical properties of the complete model naturally give rise to five primary grasp types whose physical interpretations provide insight for grasp and manipulation planning.

After introducing the basic models and types of grasps, this chapter focuses on the most important grasp characteristic: complete restraint. A grasp with complete restraint prevents loss of contact and thus is very secure. Two primary restraint properties are form closure and force closure. A form closure grasp guarantees maintenance of contact as long as the links of the hand and the object are well-approximated as rigid and as long as the joint actuators are sufficiently strong. As will be seen, the primary difference between form closure and force closure grasps is the latter’s reliance on contact friction. This translates into requiring fewer contacts to achieve force closure than form closure.

The goal of this chapter is to give a thorough understanding of the all-important grasp properties of form and force closure. This will be done through detailed derivations of grasp models and discussions of illustrative examples. For an in-depth historical perspective and a treasure-trove bibliography of papers addressing a wide range of topics in grasping, the reader is referred to [38.1].

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Abbreviations

3-D:

three-dimensional

DH:

Denavit–Hartenberg

DLR:

Deutsches Zentrum für Luft- und Raumfahrt

DOF:

degree of freedom

HF:

hard finger

LP:

linear program

PwoF:

point-contact-without-friction

SF:

soft finger

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Author information

Authors and Affiliations

  1. Department of Information Engineering, University of Siena, Via Roma 56, 53100, Siena, Italy

    Domenico Prattichizzo

  2. Department of Computer Science, Rensselaer Polytechnic Institute, 110 8th Street, NY 12180-3590, Troy, USA

    Jeffrey C. Trinkle

Authors
  1. Domenico Prattichizzo
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  2. Jeffrey C. Trinkle
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Correspondence to Domenico Prattichizzo .

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Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

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Grasp analysis using the MATLAB toolbox SynGrasp available from http://handbookofrobotics.org/view-chapter/04/videodetails/551

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Prattichizzo, D., Trinkle, J.C. (2016). Grasping. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_38

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_38

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