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Manipulation and Grasping

For a humanoid robot to be truly useful, it must be able to manipulate objects in its environment. This involves a combination of perception, planning, and control.

Grasping​

Grasping is the act of securely holding an object. It is a fundamental skill for manipulation.

  • Form Closure: A grasp has form closure if the object is geometrically constrained by the fingers, such that it cannot move.
  • Force Closure: A grasp has force closure if the robot can apply forces with its fingers to resist any external forces or torques on the object.

Grasp Planning​

Grasp planning is the process of determining the optimal finger positions and forces to achieve a stable grasp. This is a challenging problem that involves reasoning about the geometry of the object, the capabilities of the robot's hand, and the task to be performed.

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