Manipulation

Null-Space Grasping

Null-space grasping refers to controlling the internal forces of a multi-contact grasp, the contact force combinations lying in the null space of the grasp matrix, which squeeze the object without producing any net wrench on it. Modulating these internal forces lets a hand or dual-arm system hold an object more or less tightly and maintain friction constraints without disturbing the object's motion.

Why it matters for physical AI

Multi-fingered and dual-arm holds require regulating squeeze forces independently of object motion, which is central to secure yet gentle handling of fragile or heavy items.