A novel grasping mechanism for flat-shaped objects inspired by lateral grasp

In this paper, we propose a grasping mechanism for flat-shaped objects such as a dish, a plate, etc., inspired by humanpsilas lateral grasp. We analyze how the mechanism can grasp the object, and evaluate the robustness of the grasping against disturbance forces/moments applied to the grasping object. The mechanism is experimentally applied to handling of dishes, and several experimental results illustrate the effectiveness of the proposed grasping mechanism.