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Grasping unknown objects has been an active research topic for decades.Approaches range from using various sensors (e.g. vision, tactile) to gaininformation about the object, to building passively compliant hands that reactappropriately to contacts. In this paper, we focus on grasping unknown objectsusing proprioception (the combination of joint position and torque sensing).Our hypothesis is that proprioception alone can be the basis for versatileperformance, including multiple types of grasps for objects with multipleshapes and sizes, and transitions between grasps. Using aseries-elastic-actuated gripper, we propose a method for performing stablefingertip grasps for unknown objects with unknown contacts, formulated asmulti-input-multi-output (MIMO) control. We also show that the proprioceptivegripper can perform enveloping grasps, as well as the transition from fingertipgrasps to enveloping grasps.

Proprioception-Based Grasping for Unknown Objects Using a Series-Elastic-Actuated Gripper