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Grasping a deformable object must maintain its equilibrium before and after the induced deformation. This paper introduces a two-finger grasping strategy that specifies desired finger displacements rather than grasping forces. The forces are computed using the finite element method (FEM). Shown to be equal and op-posite, they act toward the other f...
Citations
... Figure 8. The ρ-squeeze grasp [36]. The stable grasp of deformable planar object is more difficult than that of rigid object. ...
... Gopalakrishnan et al. [35] developed an algorithm that combine potential energy in deformation-space and deform closure to ensure the optimal jaw separation for the 2D deformable polygon parts. Guo et al. [36] proposed a two-finger grasping strategy based on the displacement of deformable 2D object, if pq 0 and pq 1 line in the friction cones at the grasp points before and after the deformation respectively, the object would be a ρ-squeeze grasp (Figure 8). The table squeezes was further analysed from the energy by the deformation and pure squeezes [37]. ...
There have been growth demands for two-finger end-effector in agricultural and industrial because of the simple structure and control strategy. This paper reviews the human grasp behaviour, design of two-finger end-effectors, and research on self-adaptive stable grasp control. Human grasp behaviors such as grasp pattern and self-adaptive grasp provide useful information for humanoid two-finger end-effector. Most of the two-finger gripper and intelligent grasp strategy are focused on the stable grasp for regular object at present time. The self-adaptive stable grasp strategies of two-finger end-effector are presented by force-closure grasps strategy, contact stability grasp strategy and grasp synthesis strategy. Self-adaptive stable grasp synthesis strategy should consider the influence factor include geometric of contact surface and interaction of center of mass. In addition, the future work on two-finger self-adaptive stable grasp for 3D irregular object and 3D soft object is also reviewed.
