Control Architecture for Safe Grasping of Fragile Objects Using a Coarse Position-Controlled Gripper

arXiv:2609.12737 · cs.RO · Submitted 2026-09-11 · Read on arXiv

cs.RO

Submitted: 2026-09-11

Updated: 2026-09-23

Terminology

• Adaptation — 8× in this paper · explained in 1 episode
• Admittance Control — 4× in this paper · explained in 1 episode
• Online Adaptation — 1× in this paper · explained in 3 episodes
• PID Controller — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes

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