Manipulation with Shared Grasping

Understand

A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment.

• By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and enables manipulation even when a full grasp is not possible.
• Previous research has used shared grasps for non-prehensile manipulation such as pivoting and tumbling.
• This paper treats the problem more generally, with methods to select the best shared grasp and robot actions for a desired object motion.