Gespeichert in:
| Hauptverfasser: | , , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2026
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| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2602.02026 |
| Tags: |
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Inhaltsangabe:
- We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction coefficient using vision-based tactile sensors. This estimate is seamlessly integrated into a reactive controller that dynamically modulates grasp force to maintain a stable grip. The two processes operate synchronously in a closed-loop: the controller uses the current best estimate to adjust the force, while new tactile feedback from this action continuously refines the estimation. This creates a highly responsive and robust sensorimotor cycle. The reliability and efficiency of the complete framework are validated through extensive robotic experiments.