Jethro's Braindump

Robot Grasping

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.

Challenges

  1. The robot needs to adapt to changes in the environment.
  2. The robot is susceptible to noise and errors in the environment, in control, in perception, and perturbations to the robot itself.

Grasping Approaches

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.