Force-Aware 3D Contact Modeling for Stable Grasp Generation
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866909908291551232 |
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| author | Chen, Zhuo Zhang, Zhongqun Cheng, Yihua Leonardis, Ales Chang, Hyung Jin |
| author_facet | Chen, Zhuo Zhang, Zhongqun Cheng, Yihua Leonardis, Ales Chang, Hyung Jin |
| contents | Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these approaches often overlook the physical attributes of the grasp, specifically the contact force, leading to reduced stability of the grasp. In this paper, we focus on stable grasp generation using explicit contact force predictions. First, we define a force-aware contact representation by transforming the normal force value into discrete levels and encoding it using a one-hot vector. Next, we introduce force-aware stability constraints. We define the stability problem as an acceleration minimization task and explicitly relate stability with contact geometry by formulating the underlying physical constraints. Finally, we present a pose optimizer that systematically integrates our contact representation and stability constraints to enable stable grasp generation. We show that these constraints can help identify key contact points for stability which provide effective initialization and guidance for optimization towards a stable grasp. Experiments are carried out on two public benchmarks, showing that our method brings about 20% improvement in stability metrics and adapts well to novel objects. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_13247 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Force-Aware 3D Contact Modeling for Stable Grasp Generation Chen, Zhuo Zhang, Zhongqun Cheng, Yihua Leonardis, Ales Chang, Hyung Jin Graphics 68T45 (Primary) 68U05 (Secondary) I.2.10 Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these approaches often overlook the physical attributes of the grasp, specifically the contact force, leading to reduced stability of the grasp. In this paper, we focus on stable grasp generation using explicit contact force predictions. First, we define a force-aware contact representation by transforming the normal force value into discrete levels and encoding it using a one-hot vector. Next, we introduce force-aware stability constraints. We define the stability problem as an acceleration minimization task and explicitly relate stability with contact geometry by formulating the underlying physical constraints. Finally, we present a pose optimizer that systematically integrates our contact representation and stability constraints to enable stable grasp generation. We show that these constraints can help identify key contact points for stability which provide effective initialization and guidance for optimization towards a stable grasp. Experiments are carried out on two public benchmarks, showing that our method brings about 20% improvement in stability metrics and adapts well to novel objects. |
| title | Force-Aware 3D Contact Modeling for Stable Grasp Generation |
| topic | Graphics 68T45 (Primary) 68U05 (Secondary) I.2.10 |
| url | https://arxiv.org/abs/2511.13247 |