In this lecture, we will cover some of the basics of manipulation. We will look at some basic examples of manipulation tasks, and what is needed to successfully perform manipulation.

Manipulation consists of multiple successive steps. These steps are also known as functional modules.

• We need to sense the environment somehow.
• We need to plan the motion we wish to perform.
• We need to check we won’t collide with anything while moving.
• We need to calculate our trajectory and how fast we want to go.