This thesis presents a method to grasp objects using the novel Soft Scoop Gripper (SSG). The main features of this hand are represented by the scoop and by the reconfigurability of its fingers. The first acts as an embodied environmental constraint (EC), it allows to facilitate the grasp and improves its robustness while also reducing the planning effort. The second allows adopting a single strategy for grasping objects of different sizes. The thesis proposes three fingers’ configurations that are designed to deal with various objects. These configurations are the results of a preliminary grasp analysis of 12 initial settings. The grasp strategy we consider is the so-called scoop grasp, where the scoop adapts its orientation to the surface where it slides, while the soft fingers establish reliable contact with the object.