10: Grasping

Introduction to Autonomous Robots · LibreTexts

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    Grasping is the activity in which the robot extends its body by attaching an external object to its kinematic chain. This allows the robot to move this object and potentially manipulate it, that is change its shape or pose. Grasping has the interesting, and very confusing, property that its relatively easy in practice, but very difficult in theory. Consequently, this chapter describes a variety of strategies that will lead to successful grasps for a wide range of objects, but has difficulties to answer questions such as What makes a good grasp? or How to find good grasps? in any more depth than by providing simple heuristics.

    This page titled 10: Grasping was last modified on Tue, 10 Aug 2021 01:33:31 GMT and is shared under a CC BY-NC 4.0 license and was authored, remixed, and/or curated by Nikolaus Correll via source content that was edited to the style and standards of the LibreTexts platform.