Robotic Grasping

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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. Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation

    May 20, 2026Albert Wu, Riccardo Bonalli, Thomas Lew +1Robotic ControlConstrained Motion Planning

    Computer Science Department, Stanford University, Stanford, CA 94305, USA. · Laboratory of Signals and Systems, University of Paris-Saclay, CNRS, CentraleSup´elec, France. · Toyota Research Institute, Los Altos, CA 94022, USA.

  2. SECOND-Grasp: Semantic Contact-guided Dexterous Grasping

    May 13, 2026Han Yi Shin, Heeju Ko, Jaewon Mun +6Robotic GraspingLanguage-Conditioned Robot Manipulation

    1Korea University · University of Texas at Austin · University of Michigan +1

  3. Introducing Environmental Constraints to Grasping Strategies for Paper-Like Flexible Materials Using a Soft Gripper

    May 12, 2026Yi Dong, Yang Li, Jinjun Duan +1Robotic GraspingDeformable Object Manipulation

    College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing, 211106, Jiangsu, China. · Jiangsu Key Laboratory of Bionic Materials and Equipment, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing, 211106, Jiangsu, China.

  4. HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions

    May 11, 2026Zhenhao Shen, Zeming Yang, Yue Chen +5Robotic GraspingRobot Foundation Models

    1Peking University · 2Tianjin University

  5. MVB-Grasp: Minimum-Volume-Box Filtering of Diffusion-based Grasps for Frontal Manipulation

    May 10, 2026Bibek Poudel, Abdul Basit, Muhammad ShafiqueRobotic Grasping

    eBRAIN Lab, Division of Engineering New York University (NYU) Abu Dhabi, Abu Dhabi, UAE

  6. Contact-Free Grasp Stability Prediction with In-Hand Time-of-Flight Sensors

    May 6, 2026Kyle DuFrene, Cindy GrimmRobotic GraspingRobotic Perception

    Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR 97331

  7. Learning Reactive Dexterous Grasping via Hierarchical Task-Space RL Planning and Joint-Space QP Control

    May 5, 2026Ho Jae Lee, Yonghyeon Lee, Alexander Alexiev +3Robotic ControlRobotic Grasping

    Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA

  8. Visibility-Aware Mobile Grasping in Dynamic Environments

    May 4, 2026Tianrun Hu, Anxing Xiao, David Hsu +1Active PerceptionConstrained Motion Planning

    School of Computing, National University of Singapore, Singapore. · Smart Systems Institute, National University of Singapore, Singapore. · Shanghai Innovation Institute, Shanghai, China.

  9. ShapeGrasp: Simultaneous Visuo-Haptic Shape Completion and Grasping for Improved Robot Manipulation

    May 4, 2026Lukas Rustler, Matej HoffmannRobotic Grasping3D Reconstruction

    Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic.

  10. Robotic Desk Organization: A Multi-Primitive Approach to Manipulating Heterogeneous Objects via Environmental Constraints

    May 4, 2026Yi Dong, Yangjun Liu, Jinjun Duan +2Robotic GraspingDeformable Object Manipulation

  11. Ablation Study of Multimodal Perception, Language Grounding, and Control for Human-Robot Interaction in an Object Detection and Grasping Task

    May 1, 2026Zi Tian, Guanting ShenMultimodal GroundingRobotic Grasping

    Dalian University of Technology, Dalian, China

  12. A Model-based Visual Contact Localization and Force Sensing System for Compliant Robotic Grippers

    May 1, 2026Kaiwen Zuo, Shuyuan Yang, Zonghe ChuaRobotic GraspingRobotic Manipulation

    Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH 44106, USA

  13. Function-based Parametric Co-Design Optimization of Dexterous Hands

    Apr 30, 2026Mohammad Amin Mirzaee, Harsh Gupta, Wenzhen YuanRobotic Hand DesignRobotic Grasping

    University of Illinois at Urbana-Champaign, Champaign, IL, USA

  14. Stochastic Entanglement of Deterministic Origami Tentacles For Universal Robotic Gripping

    Apr 29, 2026Alec Boron, Bokun Zheng, Ziyang Zhou +2Robotic GraspingRobotics

    Department of Mechanical Engineering, Virginia Tech, VA, USA

  15. 2D and 3D Grasp Planners for the GET Asymmetrical Gripper

    Apr 29, 2026Andrew Goldberg, Ethan Ransing, Anton Kourakin +3Robotic GraspingRobotic Manipulation

    The AUTOLab at UC Berkeley · Massachusetts Institute of Technology

  16. Variational Neural Belief Parameterizations for Robust Dexterous Grasping under Multimodal Uncertainty

    Apr 28, 2026Clinton Enwerem, Shreya Kalyanaraman, John S. Baras +1Belief-Space PlanningStochastic Optimization

    Department of Electrical & Computer Engineering and Institute for Systems Research, University of Maryland, College Park, MD, USA

  17. HANDFUL: Sequential Grasp-Conditioned Dexterous Manipulation with Resource Awareness

    Apr 28, 2026Ethan Foong, Yunshuang Li, Hao Jiang +2Robotic GraspingDexterous Manipulation

    Department of Computer Science at Northwestern University · Viterbi School of Engineering at the University of Southern California

  18. An analysis of sensor selection for fruit picking with suction-based grippers

    Apr 27, 2026Eva Krueger, Marcus Rosette, Joseph R. DavidsonRobotic GraspingTactile Sensing

    Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis OR 97331, USA

  19. A Kinematic Framework for Screening Candidate Pinch Configurations in Robotic Hand Design without Object or Contact Models

    Apr 22, 2026HyoJae Kang, Joonho Lee, Hyunmok Jung +1Robotic Hand DesignRobotic Grasping

    Advanced Robotics Research Center, Korea Institute of Machinery & Materials (KIMM)

  20. ETac: A Lightweight and Efficient Tactile Simulation Framework for Learning Dexterous Manipulation

    Apr 22, 2026Zhe Xu, Feiyu Zhao, Xiyan Huang +1Robotic GraspingRobotics Simulation

    School of Information Science and Technology at ShanghaiTech University, Shanghai 201210, China

  21. Muscle-inspired magnetic actuators that push, pull, crawl, and grasp

    Apr 20, 2026Muhammad Bilal Khan, Florian Hofmann, Kilian Schäfer +2Robotic GraspingAdditive Manufacturing

    1Functional Materials, Institute of Materials Science, Technical University of Darmstadt, 64287 Darmstadt, Germany · 2Additive Manufacturing Center, Technical University of Darmstadt, 64289 Darmstadt, Germany

  22. SpaceDex: Generalizable Dexterous Grasping in Tiered Workspaces

    Apr 20, 2026Wensheng Wang, Chuanjun Guo, Wei Wei +2Robotic GraspingDexterous Manipulation

    Sun Yat-sen University, Guangzhou, China. · Stellarobot Company, Shenzhen, China.

  23. A Rapid Deployment Pipeline for Autonomous Humanoid Grasping Based on Foundation Models

    Apr 19, 2026Yifei Yan, Yankai Liao, Linqi YeRobotic GraspingHumanoid Robotics

    School of Future Technology, Shanghai University, Shanghai, 200444, China · School of Mechanical Engineering, Shanghai Institute of Technology, Shanghai, 201418, China

  24. HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments

    Apr 16, 2026Jongbin Lim, Taeyun Ha, Seongho Cha +6Robotic Data CollectionDexterous Manipulation

    Seoul National University · RLWRLD

  25. Differentiable Object Pose Connectivity Metrics for Regrasp Sequence Optimization

    Apr 16, 2026Liang Qin, Weiwei Wan, Kensuke HaradaRobotic GraspingRobotic Manipulation

    All authors are with the Graduate School of Engineering Science, The University of Osaka, Japan.

  26. FastGrasp: Learning-based Whole-Body Control Method for Fast Dexterous Grasping with Mobile Manipulators

    Apr 14, 2026Heng Tao, Yiming Zhong, Zemin Yang +1RL for RoboticsRobotic Grasping

    ShanghaiTech University

  27. CLASP: Closed-loop Asynchronous Spatial Perception for Open-vocabulary Desktop Object Grasping

    Apr 13, 2026Yiran Ling, Wenxuan Li, Siying Dong +5Spatial Grounding for VLA ModelsRobotic Grasping

    Harbin Institute of Technology · National Key Laboratory of Smart Farm Technologies and Systems · Northeastern University +1

  28. Kinematics of continuum planar grasping

    Apr 10, 2026Udit Halder, Nicolas Echeverria Zambrano, Xincheng LiRobotic Grasping

    Department of Mechanical and Aerospace Engineering, University of South Florida.

  29. A Benchmark of Dexterity for Anthropomorphic Robotic Hands

    Apr 10, 2026Davide Liconti, Yuning Zhou, Yasunori Toshimitsu +2Dexterous ManipulationRobot Manipulation Benchmarks

    Soft Robotics Lab, D-MAVT, ETH Zurich

  30. Task-Aware Bimanual Affordance Prediction via VLM-Guided Semantic-Geometric Reasoning

    Apr 9, 2026Fabian Hahne, Vignesh Prasad, Georgia Chalvatzaki +2Bimanual Robotic ManipulationRobotic Manipulation

    Department of Computer Science, Technical University of Darmstadt · Hessian Center for Artificial Intelligence (Hessian.AI), Darmstadt · Robotics Institute Germany (RIG) +2