How Firm Should a Grasp Be?
An ideal robot grasp is firm enough to securely handle an object, yet gentle enough to avoid damaging it. Achieving this balance requires knowledge of the object's material properties, such as its mass, elasticity, and surface friction. These properties, however, are seldom precisely known a priori. In this work, we propose a visuotactile approach to estimating material properties in real time, during the process of grasping. Our method uses these estimated properties to determine the minimum grasp force required to handle the object. We contribute a new dataset of real-world objects (fruits and vegetables) with measured physical properties (shape, mass, elasticity, and friction), which w...
| Authors | Matthew Beveridge, Shree K. Nayar |
|---|---|
| Primary category | cs.RO |
| Published | 8 October 2026 |
| Last updated at source | 8 October 2026 |
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