High-Bandwidth Tactile-Reactive Control for Grasp Adjustment
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866908547243048960 |
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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 | Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile feedback, when paired with a well-designed tactile-reactive controller, can significantly improve robustness in the presence of perception errors. This paper contributes to controller design by proposing a purely tactile-feedback grasp-adjustment algorithm. The proposed controller requires neither prior knowledge of the object's geometry nor an accurate grasp pose, and is capable of refining a grasp even when starting from a crude, imprecise initial configuration and uncertain contact points. Through simulation studies and real-world experiments on a 15-DoF arm-hand system (featuring an 8-DoF hand) equipped with fingertip tactile sensors operating at 200 Hz, we demonstrate that our tactile-reactive grasping framework effectively improves grasp stability. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2509_15876 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | High-Bandwidth Tactile-Reactive Control for Grasp Adjustment Lee, Yonghyeon Lin, Tzu-Yuan Alexiev, Alexander Kim, Sangbae Robotics Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile feedback, when paired with a well-designed tactile-reactive controller, can significantly improve robustness in the presence of perception errors. This paper contributes to controller design by proposing a purely tactile-feedback grasp-adjustment algorithm. The proposed controller requires neither prior knowledge of the object's geometry nor an accurate grasp pose, and is capable of refining a grasp even when starting from a crude, imprecise initial configuration and uncertain contact points. Through simulation studies and real-world experiments on a 15-DoF arm-hand system (featuring an 8-DoF hand) equipped with fingertip tactile sensors operating at 200 Hz, we demonstrate that our tactile-reactive grasping framework effectively improves grasp stability. |
| title | High-Bandwidth Tactile-Reactive Control for Grasp Adjustment |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.15876 |