Factors that influence reliable object manipulation

This paper presents various factors that influence robotic object manipulation. Some of these factors are inherent to the object and mostly unavoidable, while others are controllable by the grasping and slippage control system designer. Some factors, such as object texture are obviously inherent to the object and unavoidable for the purpose of object manipulation. However, other factors, such as the choice of mechanism control resolution depend mostly on the designer. It is anticipated that this information will be helpful to designers of robotic object grasping and slippage control systems, and will contribute to better design decisions.