SOURCE-LINKED INTELLIGENCE

Sensorless damage-safe grasping

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

Robotic fruit harvesting must hold produce securely without bruising it, yet compression stiffness varies several-fold with ripeness within a single species, so no fixed grip force spans the range. Rather than tune force, we bound deformation: a controller closes the gripper until the object's estimated compression strain reaches a user-specified limit $\varepsilon$, using only the encoder position and motor-effort signal on every servo gripper---no tactile or force-torque sensor. Dividing an effort-based contact force by a lower bound on object stiffness makes the stop provably conservative--

Read original source ↗ Open in workspace

recordType

paper

region

Global