>When grasping an object you need to know the normal force on the contact point of the object and check that you're still in the friction cone. You don't. Cert

>When grasping an object you need to know the normal force on the contact point of the object and check that you're still in the friction cone. You don't. Certainly I do not need such information. But that is what makes robotics hard, there is no easy answer as to how a human knows how to properly grasp an object.