The Grasp Acquisition Strategy of the Velvet II

In this work we exploit the combined effects of the underactuation and the active surfaces of the Velvet II dexterous gripper. The aim is to achieve a firm enveloping grasp, starting from an initial pinch grasp. The pull-in grasping strategy described here turns out to be very useful in untidy environments where the scene is populated by many objects in a cluttered disposition. In this context, a nimble fingertip grasp is more likely to be feasible than a robust enveloping grasp