Robot manipulation.
Manipulation is the problem of making physical contact useful: grasping, moving, placing, opening, assembling and interacting with objects.
The manipulation loop
1. Perceive
Estimate objects, surfaces, pose, contact opportunities and uncertainty.
2. Plan
Select grasps, motions and task sequences while accounting for geometry and constraints.
3. Control
Execute motion and force commands while responding to contact and changes in the environment.
Dexterity
Dexterous manipulation extends this problem to richer contact patterns and more capable hands or end-effectors. It is particularly sensitive to sensing, control bandwidth, data quality and embodiment.
Why it is difficult
The physical world is uncertain. Objects deform, friction varies, perception is incomplete and small errors can cause failure. Successful systems therefore combine modeling, feedback and learning rather than relying on a single technique.