Hierarchical Reactive Grasping via Task-Space Velocity Fields and Joint-Space Quadratic Programming
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866912590015234048 |
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| author | Lee, Yonghyeon Lin, Tzu-Yuan Alexiev, Alexander Kim, Sangbae |
| author_facet | Lee, Yonghyeon Lin, Tzu-Yuan Alexiev, Alexander Kim, Sangbae |
| contents | We present a fast and reactive grasping framework that combines task-space velocity fields with joint-space Quadratic Program (QP) in a hierarchical structure. Reactive, collision-free global motion planning is particularly challenging for high-DoF systems, as simultaneous increases in state dimensionality and planning horizon trigger a combinatorial explosion of the search space, making real-time planning intractable. To address this, we plan globally in a lower-dimensional task space, such as fingertip positions, and track locally in the full joint space while enforcing all constraints. This approach is realized by constructing velocity fields in multiple task-space coordinates (or, in some cases, a subset of joint coordinates) and solving a weighted joint-space QP to compute joint velocities that track these fields with appropriately assigned priorities. Through simulation experiments and real-world tests using the recent pose-tracking algorithm FoundationPose, we verify that our method enables high-DoF arm-hand systems to perform real-time, collision-free reaching motions while adapting to dynamic environments and external disturbances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_01044 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Hierarchical Reactive Grasping via Task-Space Velocity Fields and Joint-Space Quadratic Programming Lee, Yonghyeon Lin, Tzu-Yuan Alexiev, Alexander Kim, Sangbae Robotics We present a fast and reactive grasping framework that combines task-space velocity fields with joint-space Quadratic Program (QP) in a hierarchical structure. Reactive, collision-free global motion planning is particularly challenging for high-DoF systems, as simultaneous increases in state dimensionality and planning horizon trigger a combinatorial explosion of the search space, making real-time planning intractable. To address this, we plan globally in a lower-dimensional task space, such as fingertip positions, and track locally in the full joint space while enforcing all constraints. This approach is realized by constructing velocity fields in multiple task-space coordinates (or, in some cases, a subset of joint coordinates) and solving a weighted joint-space QP to compute joint velocities that track these fields with appropriately assigned priorities. Through simulation experiments and real-world tests using the recent pose-tracking algorithm FoundationPose, we verify that our method enables high-DoF arm-hand systems to perform real-time, collision-free reaching motions while adapting to dynamic environments and external disturbances. |
| title | Hierarchical Reactive Grasping via Task-Space Velocity Fields and Joint-Space Quadratic Programming |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.01044 |