Gripping device modalities

A method for performing a picking operation, the method comprising:

• positioning a gripping device with respect to an item to be grasped;
• executing a first picking operation using the gripping device to obtain a grasp on the item;
• executing, to determine whether the gripping device has obtained a grasp on the item, a plurality of procedures, the plurality of procedures including:
• a force detection procedure to provide a first data output indicative of a detected force applied to a portion of the gripping device,
• a grasping space detection procedure to provide a second data output indicative of a detected item in grasping range of the gripping device,
• a pressure detection procedure to provide a third data output indicative of a detected pressure in an airflow path, and
• an item load detection procedure to provide a fourth data output indicative of a detected force in a mechanical load path of the gripping device;
• receiving the first data output, second data output, third data output, and fourth data output;
• and
• determining that the gripping device did not grasp the item based on the second data output indicating a positive classification and the first data output, third data output, and fourth data output indicating negative classifications.