Humans are able to perform dexterous manipulation of everyday, unseen objects with their limbs. Yet, it remains a challenge for robots to perform grasping and manipulation of objects.
- The robot needs to adapt to changes in the environment.
- The robot is susceptible to noise and errors in the environment, in control, in perception, and perturbations to the robot itself.
- Dexterous manipulation
- manipulation with fingers
- Enveloping grasps
- formed by wrapping both fingers and palm around object
Enveloping grasps have superior stability. Grasping Simulators such as (GraspIt!) have been made available for theoretical research.