System and method for robotic gripping utilizing dynamic collision modeling for vacuum suction and finger control

A robotic apparatus for manipulating objects, comprising:

• a vacuum port configured to provide a vacuum suction force;
• at least two gripping structures each having respective finger portions, the gripping structures positioned proximate to the vacuum port;
• and
• a controller configured to provide actuation commands to the vacuum port and gripping structures, wherein the controller is configured to generate a collision scene of a surrounding environment to determine a motion path, and wherein the controller is further configured to utilize an iterative feedback loop to modify the motion path if the collision scene indicates a possible collision.