Robot Hands and Grasping

Course content

Important basic formalisms and procedures for modeling of grasping and manipulation actions are introduced and introduced and practically deepened in exercises. Topics include:

• Description of movements of solid bodies using twists
• Point contact with/without friction, soft contacts, approximations by convex cones
• Description of grips, grip matrix
• Evaluation of grips and stability, manipulability
• Search and optimization of grips
• Planning and learning of grasping movements