Loop closure grasping: Topological transformations enable strong, gentle, and versatile grasps

Grasping mechanisms must both create and subsequently hold grasps that permit safe and effective object manipulation. Existing mechanisms address the different functional requirements of grasp creation and grasp holding using a single morphology, but have yet to achieve the simultaneous strength, gentleness, and versatility needed for many applications. We present "loop closure grasping", a class of robotic grasping that addresses these different functional requirements through topological transformations between open-loop and closed-loop morphologies. We formalize these morphologies for grasping, formulate the loop closure grasping method, and present principles and a design architecture that we implement using soft growing inflated beams, winches, and clamps. The mechanisms' initial open-loop topology enables versatile grasp creation via unencumbered tip movement, and closing the loop enables strong and gentle holding with effectively infinite bending compliance. Loop closure grasping circumvents the tradeoffs of single-morphology designs, enabling grasps involving historically challenging objects, environments, and configurations.