2 papers
cs.RO2026
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…
cs.RO2025
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…