Abstract
The ability to grasp objects of different size and shape is one of the most important skills of a humanoid robot. There are a lot of different approaches tackling this problem; however, there is no general solution. The complexity and the skill of a possible grasping motion depend hardly on a particular robot. In this paper we analyze the kinematic and sensory grasping abilities of the humanoid robot Nao. Its kinematic constraints and hand's mechanical structure represent an interesting case of study due to lack of actuators for fingers and the limited computation power. After describing the platform and studying its capabilities, we propose some simple controllers and we present a benchmark based on some experimental data.