Open AccessSelf-adaptive Stable Grasp of Two-finger End-effector: A Review
Author(s) -
Xiaojing Chen,
Gaofeng Zhang,
Peicheng Peng,
Yuqing Wang
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1325/1/012070
Subject(s) - grasp , computer science , object (grammar) , robot end effector , artificial intelligence , robot , programming language
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.