Grasp Planning

Principles and algorithms for robotic grasping: grasp metrics, force closure, antipodal grasps, analytical grasp planning, and learning-based grasp prediction.

Learning Objectives

1. Grasp Fundamentals

1.1 What Makes a Good Grasp?

1.2 Contact Models (Point, Friction Cone)

1.3 Force Closure & Form Closure

2. Analytical Grasp Planning

2.1 Antipodal Grasps

2.2 Grasp Wrench Space

2.3 Grasp Quality Metrics

3. Grasp Planning from Point Clouds

3.1 GPD (Grasp Pose Detection)

3.2 PointNetGPD

4. Learning-Based Grasping

4.1 GraspNet

4.2 DexNet

4.3 AnyGrasp

5. Dexterous Grasping

5.1 Multi-Finger Grasp Planning

5.2 In-Hand Manipulation

6. Grasp Simulation & Sim-to-Real

7. ROS 2 Grasp Pipeline

Exercises

References