GraspSense: Physically Grounded Grasp and Grip Planning for a Dexterous Robotic Hand via Language-Guided Perception and Force Maps

Elizaveta Semenyakina, Ivan Snegirev, Mariya Lezina +3

Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanica…