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The hand is the most perfect tool for transferring information in the human’s long-term evolution process. It can flexibly and finely perform operations, such as grabbing objects. The original intention of the manipulator, which is an important part of the robot system, is to replace the manpower. Therefore, the operation of grasping objects has always been the research focus of the humanoid manipulator. The traditional method of grasping is to use the three-finger forming force of the robot to fulfil the task. However, due to the complicated structure of the manipulator itself, it is possible that the control signal deviation or the degree of freedom does not reach the required level. As a result, these problems will cause the target object falling off during the grabbing process. In order to achieve the effect of stable grabbing, this paper proposes a five-finger closed-grabbing algorithm, which emulates human hand grabbing. The essence of this method is to use the redundancy mechanism to solve the unsuccessful crawling and falling off problems that may occur in the traditional three-finger grabbing process. Firstly, based on the idea of ??the three-finger force balance algorithm, the conditions for satisfying the five-finger force closed capture algorithm are proposed. Secondly, the proof of sufficiency and necessity of the five-finger closed-grabbing algorithm are provided. Finally, the feasibility and necessity of the five-finger force closure algorithm are verified by experiment, which is in the simulation environment to capture different target objects.