Robotic Grasping

Ask about this topic

Overview

The field studies how a robot selects contact points and gripper poses, then controls its hand to acquire and manipulate objects safely. Common approaches include geometric grasp sampling from RGB-D images or point clouds, learned grasp policies and diffusion or flow-based generators, and language- or affordance-guided planning for task-specific contacts. Tactile and force feedback, compliant gripper designs, and simulation-to-real training help systems adjust to slip, object properties, and changing contact during execution. A central challenge is making grasps physically reliable and efficient under clutter, partial observations, unknown friction, and different robot embodiments, while benchmarks increasingly test real-world execution as well as predicted grasp quality.

Latest papers

CardsList

316 papers35 papers in the last four weeks, down 34% on the four weeks before. 0.2% of all new papers.

  1. BLaDA: Bridging Language to Functional Dexterous Actions within 3DGS Fields

    Apr 9, 2026Fan Yang, Wenrui Chen, Guorun Yan +7Robotic ManipulationRobotic Grasping

    School of Artificial Intelligence and Robotics, Hunan University, Changsha 410012, China. · National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China. · Key Laboratory of Advanced Manufacturing Technology of the Ministry of Education, Guizhou University, Guiyang 550025, China.

  2. Grasp as You Dream: Imitating Functional Grasping from Generated Human Demonstrations

    Apr 8, 2026Chao Tang, Jiacheng Xu, Haofei Lu +4Robotic GraspingZero-Shot Robotic Manipulation

    Department of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden. · Shenzhen Key Laboratory of Robotics and Computer Vision, Southern University of Science and Technology, Shenzhen, China.

  3. A Physical Agentic Loop for Language-Guided Grasping with Execution-State Monitoring

    Apr 8, 2026Wenze Wang, Mehdi Hosseinzadeh, Feras DayoubRobotic ManipulationLanguage-Conditioned Robot Manipulation

    Australian Institute for Machine Learning (AIML), Adelaide University, Australia.

  4. BiDexGrasp: Coordinated Bimanual Dexterous Grasps across Object Geometries and Sizes

    Apr 8, 2026Mu Lin, Yi-Lin Wei, Jiaxuan Chen +7Robotic GraspingDexterous Manipulation

    Sun Yat-sen University · Peking University · Tsinghua University

  5. GraspSense: Physically Grounded Grasp and Grip Planning for a Dexterous Robotic Hand via Language-Guided Perception and Force Maps

    Apr 7, 2026Elizaveta Semenyakina, Ivan Snegirev, Mariya Lezina +3Robotic GraspingDexterous Manipulation

    Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology

  6. Pickalo: Leveraging 6D Pose Estimation for Low-Cost Industrial Bin Picking

    Apr 6, 2026Alessandro Tarsi, Matteo Mastrogiuseppe, Saverio Taliani +2Robotic GraspingObject Pose Estimation

    MESH Facility (formerly iCub Tech), Istituto Italiano di Tecnologia, Genova 16163, Italy · Institut des Systèmes Intelligents et de Robotique (ISIR), Paris 75005, France · Generative Bionics, Genova 16152, Italy +1

  7. Learning Dexterous Grasping from Sparse Taxonomy Guidance

    Apr 5, 2026Juhan Park, Taerim Yoon, Seungmin Kim +10RL for RoboticsRobotic Grasping

    Department of Artificial Intelligence, Korea University, Seoul, Korea · Korea University of Technology and Education, Cheonan, Korea · Naver AI Lab, Korea +4

  8. SuperGrasp: Single-View Object Grasping via Superquadric Similarity Matching, Evaluation, and Refinement

    Mar 31, 2026Lijingze Xiao, Jinhong Du, Supeng Diao +2Superquadric RepresentationRobotic Grasping

  9. Probe-to-Grasp Manipulation Using Self-Sensing Pneumatic Variable-Stiffness Joints

    Mar 29, 2026Ngoc Duy Tran, Yeman Fan, Feng Dai +5Robotic GraspingDeformable Object Manipulation

  10. UMI-Underwater: Learning Underwater Manipulation without Underwater Teleoperation

    Mar 27, 2026Hao Li, Long Yin Chung, Jack Goler +5Affordance-Based Robotic ManipulationRobotic Grasping

    All authors are with Stanford University.

  11. Generalizable task-oriented object grasping through LLM-guided ontology and similarity-based planning

    Mar 27, 2026Hao Chen, Takuya Kiyokawa, Weiwei Wan +1Robotic GraspingGeneralization in Robotic Manipulation

    Graduate School of Engineering Science, The University of Osaka, 1-3, Machikaneyamacho, Toyonaka, Osaka, 560-8531, Japan

  12. A Sensorless, Inherently Compliant Anthropomorphic Musculoskeletal Hand Driven by Electrohydraulic Actuators

    Mar 25, 2026Misato Sonoda, Ronan Hinchet, Amirhossein Kazemipour +2Robotic Hand DesignRobotic Manipulation

    Soft Robotics Lab, ETH Zurich, Switzerland · The University of Tokyo, Japan

  13. PHANTOM Hand

    Mar 24, 2026Teng Yan, Jiongxu Chen, Qixiang Hua +4Robotic Hand DesignRobotic Manipulation

    The Hong Kong University of Science and Technology (Guangzhou)

  14. GAPG: Geometry Aware Push-Grasping Synergy for Goal-Oriented Manipulation in Clutter

    Mar 22, 2026Lijingze Xiao, Jinhong Du, Yang Cong +2Robotic GraspingRobotic Manipulation

    College of Automation Science and Engineering, South China University of Technology, Guangzhou, China.

  15. Affordance-Guided Enveloping Grasp Demonstration Toward Non-destructive Disassembly of Pinch-Infeasible Mating Parts

    Mar 22, 2026Masaki Tsutsumi, Takuya Kiyokawa, Gen Sako +1Robotic ManipulationRobotic Grasping

    Department of Systems Innovation, Graduate School of Engineering Science, The University of Osaka, 1-3 Machikaneyama, Toyonaka, Osaka, Japan. · Industrial Cyber-physical Systems Research Center, The National Institute of Advanced Industrial Science and Technology (AIST), 2-3-26 Aomi, Koto-ku, Tokyo, Japan.

  16. TiBCLaG: Hybrid design approach for a trigger-induced bistable compliant laparoscopic grasper

    Mar 19, 2026Joel J Nellikkunnel, Prabhat KumarMechanism DesignRobotic Grasping

    Department of Mechanical and Aerospace Engineering, Indian Institute of Technology Hyderabad, Telangana 502285, India

  17. DexGrasp-Zero: A Morphology-Aligned Policy for Zero-Shot Cross-Embodiment Dexterous Grasping

    Mar 17, 2026Yuliang Wu, Yanhan Lin, WengKit Lao +4Robotic GraspingZero-Shot Robotic Manipulation

    School of Computer Science and Engineering, Sun Yat-sen University, China

  18. Dexterous grasp data augmentation based on grasp synthesis with fingertip workspace cloud and contact-aware sampling

    Mar 17, 2026Liqi Wu, Haoyu Jia, Kento Kawaharazuka +2Robotic GraspingSynthetic Data Generation for Robotics

    The Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-ku, Tokyo, Japan

  19. A Pin-Array Structured Climbing Robot for Stable Locomotion on Steep Rocky Terrain

    Mar 17, 2026Keita Nagaoka, Kentaro Uno, Kazuya YoshidaRobot LocomotionRobotic Grasping

    The authors are with the Space Robotics Lab. (SRL) in Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai 980-8579, Japan.

  20. LIMBERO: A Limbed Climbing Exploration Robot Toward Traveling on Rocky Cliffs

    Mar 17, 2026Kentaro Uno, Masazumi Imai, Kazuki Takada +7Robot LocomotionQuadruped Locomotion

    The authors are with the Space Robotics Lab. (SRL) in Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Sendai 980-8579, Japan. · The author is with the National Institute of Applied Sciences of Toulouse, 31400 Toulouse, France.

  21. MG-Grasp: Metric-Scale Geometric 6-DoF Grasping Framework with Sparse RGB Observations

    Mar 17, 2026Kangxu Wang, Siang Chen, Chenxing Jiang +3Robotic Grasping

    The Department of Electronic Engineering, Tsinghua University, Beijing 100084, China. · The Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong, China.

  22. EFF-Grasp: Energy-Field Flow Matching for Physics-Aware Dexterous Grasp Generation

    Mar 17, 2026Yukun Zhao, Zichen Zhong, Yongshun Gong +2Robotic GraspingPhysics-Informed Generative Modeling

    Shandong University, Jinan, China

  23. DGS-Net: Learning Dexterous Grasps from Single-View Point Clouds via a Multi-Object Scene Dataset

    Mar 16, 2026Tao Geng, Dapeng Yang, Ziwei Liu +6Robotic GraspingSynthetic Data Generation for Robotics

  24. Coupled Particle Filters for Robust Affordance Estimation

    Mar 16, 2026Patrick Lowin, Vito Mengers, Oliver BrockRobotic Affordance InferenceRobotic Manipulation

    Robotics and Biology Laboratory, Technische Universität Berlin · Robotics Institute Germany · Science of Intelligence (SCIoI), Cluster of Excellence, Berlin, Germany

  25. AeroGrab: A Unified Framework for Aerial Grasping in Cluttered Environments

    Mar 16, 2026Shivansh Pratap Singh, Naveen Sudheer Nair, Samaksh Ujjawal +4Aerial RoboticsRobotic Grasping

    Robotics Research Center, IIIT Hyderabad, India. · Department of Computer Science, University of Manchester, UK.

  26. RealVLG-R1: A Large-Scale Real-World Visual-Language Grounding Benchmark for Robotic Perception and Manipulation

    Mar 16, 2026Linfei Li, Lin Zhang, Ying ShenVision-Language GroundingLanguage-Conditioned Robot Manipulation

    School of Computer Science and Technology, Tongji University, China

  27. GraspALL: Adaptive Structural Compensation from Illumination Variation for Robotic Garment Grasping in Any Low-Light Conditions

    Mar 16, 2026Haifeng Zhong, Wenshuo Han, Zhouyu Wang +10Robotic GraspingMultimodal Sensor Fusion

    School of Artificial Intelligence, Jilin University · Chinese Academy of Sciences · National Cheng-Kung University +3

  28. LDHP: Library-Driven Hierarchical Planning for Non-prehensile Dexterous Manipulation

    Mar 14, 2026Tierui He, Jiahui Zuo, Fumin Zhang +1Hierarchical PlanningContact-Rich Manipulation

    Shanghai Marine Equipment Research Institute, Shanghai 200031, China. · J. Zuo and F. Zhang are with The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong. · C. Zhao is with Jilin University, Changchun, China.

  29. GraspADMM: Improving Dexterous Grasp Synthesis via ADMM Optimization

    Mar 14, 2026Liangwang Ruan, Jiayi Chen, He Wang +1Robotic GraspingDexterous Manipulation

    School of Computer Science, Peking University. · Galbot. · School of Intelligence Science and Technology, Peking University.

  30. CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance

    Mar 12, 2026Leo Lin, Shivansh Patel, Jay Moon +2Robotic Hand DesignRobotic Grasping

    University of Illinois Urbana-Champaign · UC Irvine