TacDexGrasp: Compliant and Robust Dexterous Grasping with QP and Tactile Feedback

Yubin Ke, Jiayi Chen, He Wang

Keywords: Dexterous Grasping, Tactile-based Control, Quadratic Programming

Abstract: Multi-fingered hands offer great potential for compliant and robust grasping of unknown objects, yet their high-dimensional force control presents a significant challenge. This work addresses two key problems: (1) distributing contact forces to counteract an object’s weight, and (2) preventing rotational slip caused by gravitational torque when a grasp is distant from the object's center of mass. We address these challenges via tactile feedback and a quadratic programming (QP)-based controller, without explicit torque modeling or slip detection. Our key insights are (1) rotational slip will induce translational slip for a multi-fingered grasp, and (2) the ratio of tangential to normal force at each contact is an effective early stability indicator. By actively constraining this ratio for each finger below the estimated friction coefficient, our controller maintains grasp stability against both translational and rotational slip. Real-world experiments on 13 diverse objects demonstrate the robustness and compliance of our approach.

Submission Number: 20