Ya-Yi Shen

A Haptic Exploration-Inspired Control Strategy for Adaptive Grasping of Deformable Objects

Grasping strategies based on preset thresholds or end-to-end learning often struggle to generalize to unfamiliar objects with diverse shapes, compliance, weights, or surface properties. Adaptive grasping of unstructured objects can be framed as a trade-off between excessive squeezing and unintended slippage, where accu...