Ren Yi

CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping Under Uncertainty

Mingrui Yu, Yongpeng Jiang, Yongyi Jia, Ren Yi, Xiang Li

While recent research has focused heavily on dexterous grasp pose generation, less attention has been devoted to the execution of planned grasps. Under shape and position uncertainty, open-loop execution often yields uncoordinated contacts, causing undesired in-hand object motion…Read more