Complex
models for locomotion of biped humanoids robots, that include balance and dynamics, have been
developed in the last decades. In parallel, complex methods for grasping have
also been developed, and in particular, the H2T lab has a lot of experience in
grasping and planning manipulation tasks for upper body humanoids robots.
However,
the underlying mathematical models that describe both a humanoid and a hand grasping
an object are similar. The exploration of such similarities and the transfer of
methodologies between both fields is promising path to fully exploit the
already proposed solutions as well as to find new ones.
Different topics to explore such parallelisms include, but are not limited to, in-hand manipulation vs. whole-body motions, grasp synthesis vs. step planning, balance conditions vs. stable grasps, etc.