Self-adaptive Stable Grasp of Two-finger End-effector: A Review

Abstract

Abstract 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.