The invention discloses a 
robot under-actuated hand autonomous grasping method based on stereoscopic vision, and relates to a 
robot autonomous grasping method. The problems that a grasping point can not be calculated through an existing 
robot grasping method until a three-dimensional model of an object is obtained in advance and the existing robot grasping method can only recognize a 
simple object and can not obtain a corresponding grasping point for a complicated object are solved. The method includes the steps of obtaining RGB-D 
point cloud of the object and the environment through a Kinect sensor and conducting filtering on the 
point cloud for a to-be-grasped object and the environment of the object; extracting normal vector included angle characteristics, coplanar characteristics, distance characteristics, grasping stability characteristics, collision detecting characteristics and corresponding constraint equations for the RGB-D 
point cloud; establishing a grasping planning scheme on the basis of 
Gaussian process classification; driving an under-actuated hand for grasping according to the grasping scheme, then judging whether the under-actuated hand has already grasped the object or not according to current detection till the under-actuated hand grasps the object, and releasing the object after completing the grasping task. The method is suitable for the field of robot grasping.