This chapter explains a technique for detection and grasping of objects using two arrns of an aerial robot. Toe method robustly obtains the 6D pose of the robot to grasp it regardless the environment. Toe method is based on modeling the objects surfaces under the probabilistic framework of Gaussian Processes. A prob­abilistic framework has been proposed to tackle the problem of shape uncertainty when the robot has partial information about the object to be manipulated. This un­certainty is modeled using GPIS and evaluated using the quality metric: probability of force closure.