Robotic Grasping and Manipulation

In this chapter, we consider problems that arise in designing, building, planning, and controlling operations of robotic hands and end-effectors. The purpose of such devices is often manifold, and it typically includes grasping and fine manipulation of objects in an accurate, delicate yet firm way. We survey the state-of-the-art reached by scientific research and literature about the problems engendered by these often conflicting requirements, and the work that has been done in this area over the last two decades. Because of space limitations, the chapter does not attempt at providing a survey of the technology of robot hands, but rather it is oriented towards covering the theoretical framework, analytical results, and open problems in robotic manipulation.