{"ID":2868781,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.15876","arxiv_id":"2509.15876","title":"High-Bandwidth Tactile-Reactive Control for Grasp Adjustment","abstract":"Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile feedback, when paired with a well-designed tactile-reactive controller, can significantly improve robustness in the presence of perception errors. This paper contributes to controller design by proposing a purely tactile-feedback grasp-adjustment algorithm. The proposed controller requires neither prior knowledge of the object's geometry nor an accurate grasp pose, and is capable of refining a grasp even when starting from a crude, imprecise initial configuration and uncertain contact points. Through simulation studies and real-world experiments on a 15-DoF arm-hand system (featuring an 8-DoF hand) equipped with fingertip tactile sensors operating at 200 Hz, we demonstrate that our tactile-reactive grasping framework effectively improves grasp stability.","short_abstract":"Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile feedback, when paired with a well-designed tactile-reactive controller, can significan...","url_abs":"https://arxiv.org/abs/2509.15876","url_pdf":"https://arxiv.org/pdf/2509.15876v1","authors":"[\"Yonghyeon Lee\",\"Tzu-Yuan Lin\",\"Alexander Alexiev\",\"Sangbae Kim\"]","published":"2025-09-19T11:22:18Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}