Manipulation
Antipodal Grasp
An antipodal grasp is a two-contact grasp in which the contact points can exert forces along the line connecting them, in opposite directions, with each force lying inside its contact's friction cone. Under this condition the grasp achieves force closure with just two fingers, making antipodality the standard geometric test in parallel-jaw grasp planning: samplers search object surfaces or point clouds for approximately antipodal pairs.
Why it matters for physical AI
Most deployed grasping still uses parallel-jaw grippers, so antipodal analysis underlies the grasp candidates that data-driven detectors like GraspNet-era systems score and rank in warehouses and labs alike.
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