This research aims to realize a service robot for grasping various objects in daily life. Therefore, this paper presents a grasping method based on joint angle control for a multi-fingered hand with soft fingertips. This method is robust to the fingertip position error and the object position/posture error. Since the soft fingertip deforms elastically when it contacts with an object, the force of the fingertip is estimated by its deformation amount. We calculate the fingertip positions which satisfy force/moment equilibrium. In addition, we develop an indicator of grasping based on the contact condition between each fingertip and the object. We demonstrate the performance of proposed method by simulations and experiments.
