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The study of the principles and the mechanisms that govern human and robotic grasping is a fundamental topic in robotics research. This Chapter presents in detail the models of the kinematics, statics, and dynamics of a robotic grasp and gives an overview of existing solutions in terms of robotic hands, tactile sensing, and grasp planning algorithms. The last part of the Chapter is devoted to the analysis and simulation of grasps performed with different hand models, with guided exercises.

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Grasping

  • 章节

  • 发表日期：

    2025年

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  • Domenico Prattichizzo,
  • Maria Pozzi,
  • Monica Malvezzi

摘要

The study of the principles and the mechanisms that govern human and robotic grasping is a fundamental topic in robotics research. This Chapter presents in detail the models of the kinematics, statics, and dynamics of a robotic grasp and gives an overview of existing solutions in terms of robotic hands, tactile sensing, and grasp planning algorithms. The last part of the Chapter is devoted to the analysis and simulation of grasps performed with different hand models, with guided exercises.