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

arXiv · AI, language, vision and robotics · article · Sep 11, 2026 · UTC

Robots are increasingly used in unstructured environments. The need for them to safely grasp unknown objects without damaging them becomes crucial. Humans achieve this by sensing and quickly responding by adjusting their grasping force. Similarly, effective grasp acquisition in robots requires compliant interaction strategies that can adapt to uncertain object properties and adjust to any instabilities during manipulation. We present a geometry-aware force/torque-based contact estimation method for a coarse position-controlled gripper, combined with an adaptive admittance controller for safe g

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