Synchronized Online Friction Estimation and Adaptive Grasp Control for Robust Gentle Grasp

• URL: http://arxiv.org/abs/2602.02026v2
• Date: Mon, 09 Mar 2026 12:06:42 GMT
• Title: Synchronized Online Friction Estimation and Adaptive Grasp Control for Robust Gentle Grasp
• Abstract summary: We propose a new particle filter-based method for real-time estimation of the friction coefficient using vision-based tactile sensors.<n>This estimate is seamlessly integrated into a reactive controller that dynamically modulates grasp force to maintain a stable grip.
• Score: 3.201799966622367
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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.

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