Manipulation

Gravity Grasp

A gravity grasp is a hold in which gravity, rather than actively applied clamping force, keeps the object secured against the hand or supporting surfaces, as when an object rests in an upward-facing palm, hangs from a hook-like finger configuration, or sits cradled between fingers. Such grasps require little actuation force and tolerate imprecise contact, but constrain the feasible orientations and accelerations of subsequent motion.

Why it matters for physical AI

Exploiting environmental physics instead of fighting it expands what simple grippers can carry, and reasoning about support-based holds features in bimanual transport and the resourceful, human-like strategies learned policies are beginning to exhibit.