The box-pushing problem, where a community of mobile robots must move an object in cluttered environments, represents a very interesting challenge for the development of coordination schemes for multiagent systems, with multiple practical applications. In this paper we present a brief review of the cooperative multi robot box pushing problem and the related trends, and we describe the strategy that we propose to solve it. Specifically in this work we will addresses the problem of grasping a polygonal object that will be manipulated by mobile robots that only can push the object. The strategy was inspired in the way that robotic hands grasp objects.