Preprint
Sep 2026
Control Architecture for Safe Grasping of Fragile Objects Using a Coarse Position-Controlled Gripper
A geometry-aware force/torque-based contact estimation method for a coarse position-controlled gripper, combined with an adaptive admittance controller for safe grasp acquisition, that enables compliant and stable grasps while avoiding excessive forces is presented.
Marko Pavlic, Moritz Geier, Timo Markert et al.
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