Factors that influence reliable object manipulation

This paper presents various factors that influencerobotic object manipulation. Some of these factors are inherentto the object and mostly unavoidable, while others arecontrollable by the grasping and slippage control systemdesigner. Some factors, such as object texture are obviouslyinherent to the object and unavoidable for the purpose of objectmanipulation. However, other factors, such as the choice ofmechanism control resolution depend mostly on the designer. Itis anticipated that this information will be helpful to designers ofrobotic object grasping and slippage control systems, and willcontribute to better design decisions.