Author

Clinton Enwerem

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Preprint Aug 2026

Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety&Guaranteed Quality

GDFs, smooth softmin distances to finite sets of arm-hand grasp configurations to handle changes in contact topology are presented, and a hysteretic contact-mode transition with a wrench-quality CBF that limits degradation of the realized force-closure margin relative to hold onset is combined.

Clinton Enwerem, John S. Baras, C. Belta · 0 citations