4 papers · 1 filter
CoToGrasp: Contact-Topology-Conditioned Dexterous Grasp Synthesis via Canonical Workspace Learning
Julien Merand, Boris Meden, Liming Chen +1
Current dexterous grasp planners primarily optimize for physical stability, focusing on whether an object can be grasped rather than how it should be grasped to support downstream…
GOAG: Generative and Object-Agnostic Grasp Planner for Dexterous Robotic Manipulation
Julien Merand, Boris Meden, Mathieu Grossard +1
Multifingered grasping is a crucial robotic skill, but current deep-learning grasp planners often struggle to generalize to new objects because they are trained on limited, object-…
Reactive Slip Control in Multifingered Grasping: Hybrid Tactile Sensing and Internal-Force Optimization
Théo Ayral, Saifeddine Aloui, Mathieu Grossard
We build a low-level reflex control layer driven by fast tactile feedback for multifinger grasp stabilization. Our hybrid approach combines learned tactile slip detection with mode…
Leveraging CVAE for Joint Configuration Estimation of Multifingered Grippers from Point Cloud Data
Julien Merand, Boris Meden, Mathieu Grossard
This paper presents an efficient approach for determining the joint configuration of a multifingered gripper solely from the point cloud data of its poly-articulated chain, as gene…