US Patent 10131051 Anticipation-based robotic object grasping

A grasp management system is described. The grasp management system may be configured to determine a grasp strategy for a robotic manipulator. Information about an initial state of an object may be accessed. Information about a final state of the object may also be accessed. The final state may enable a subsequent interaction with the object. An anticipated pose space may be determined that enables the subsequent interaction with the object. An initial pose for the robotic manipulator may be determined based at least in part on the anticipated pose space. The initial pose may be used by the robotic manipulator to grasp the object.