Grasp modelling

A non-transitory computer program comprising computer readable instructions configured to cause a computer to carry out a method of generating a configuration of a robotic hand for automatically grasping a first object, the robotic hand comprising a plurality of parts, the method comprising:

• receiving data representing the first object;
• receiving a plurality of first models generated based upon an example grasp of a second object, the example grasp being based upon a configuration of the robotic hand for grasping the second object in which the plurality of parts of said hand contact said second object, each of said plurality of first models representing a relationship between a respective part of the robotic hand and a property of the second object associated with said part of the robotic hand;
• receiving a second model generated based upon the example grasp, the second model representing a relationship between the plurality of parts of the robotic hand;
• and
• processing the data representing the first object based upon the plurality of models and the second model to determine said configuration of the robotic hand for automatically grapsing the first object.

A computer apparatus for generating a configuration of a robotic hand for automatically grasping a first object, the robotic hand comprising a plurality of parts, the apparatus comprising:

• a memory storing processor readable instructions;
• and
• a processor arranged to read and execute instructions stored in said memory;
• wherein said processor readable instructions comprise instructions arranged to control the computer to carry out a method comprising:
• receiving data representing the first object;
• receiving a plurality of first models generated based upon an example grasp of a second object, the example grasp being based upon a configuration of the robotic hand for grasping the second object in which the plurality of parts of said hand contact said second object, each of said plurality of first models representing a relationship between a respective part of the robotic hand and a property of the second object associated with said part of the robotic hand;
• receiving a second model generated based upon the example grasp, the second model representing a relationship between the plurality of parts of the robotic hand;
• and
• processing the data representing the first object based upon the plurality of first models and the second model to determine said configuration of the robotic hand for automatically grasping the first object.