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Preprint Sep 2026

Control Architecture for Safe Grasping of Fragile Objects Using a Coarse Position-Controlled Gripper

A geometry-aware force/torque-based contact estimation method for a coarse position-controlled gripper, combined with an adaptive admittance controller for safe grasp acquisition, that enables compliant and stable grasps while avoiding excessive forces is presented.

Marko Pavlic, Moritz Geier, Timo Markert et al. · 0 citations
Preprint Sep 2026

Grasping by interconnection: robust closing motions from coarse object templates

Dexterous robot hands must often grasp objects whose shape, size, and pose are known only approximately. Grasp planners typically require accurate object models or correct errors with feedback, but how much inaccuracy a closing motion can tolerate on its own remains unclear. To address this question, we designed a moti...

J. Vanderheyden, G. Drion, F. Forni et al. · 0 citations
Preprint Sep 2026

A Simple Gripper Interface for Simulator-Agnostic Cloth Manipulation

This paper presents a grasping model for cloth manipulation specifically tailored to ease the deployment of robotic control methods. The model is robust, fast and easy to implement avoiding at the same time contact and friction considerations between the gripper and the cloth in favor of simple positional constraints....

Abhilash Nayak, Franco Coltraro, Maria Alberich-Carramiñana et al. · 0 citations

Active Surface-Driven

A novel solution that integrates an active surface with underactuated compliance to achieve stable grasping of thin objects without complex control is proposed and can reliably complete long sequential “grasp-place” tasks.

Unknown authors · 0 citations
Conference Aug 2026

Real-Time 3-DoF Robotic Grasp Detection via Keypoint Regression

Although vision-based grasping methods demonstrate strong perceptual capabilities in robotic grasping tasks, they often require direct regression of the grasp angle. Such regression is susceptible to the angle’s periodicity and discontinuity, leading to unstable model training. To address this issue, this paper propose...

Xiao-Yu Xia, Cheng-Cheng Hu, Le-Yi Liu et al. · 0 citations
Preprint Sep 2026

GraspTwin: Zero-Shot Task-Oriented Grasp Optimization via a Digital Twin

This work construct a digital twin of the environment, query a large foundation model to propose grasps that align with the object's affordances and task description, and then optimize the proposals to ensure robustness and plausibility before executing the result on the real robot.

Daniel J. Evans, Yin-Long Dai, Simon Stepputtis et al. · 0 citations

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