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About this paper
Mingrui Yu, Yongpeng Jiang, Yongyi Jia, Yi Ren, Xiang Li
CoorGrasp uses tactile feedback to coordinate reaching and squeezing when executing planned grasps under contact and position uncertainty. It adjusts arm motion during approach and reallocates contact forces during grasping to pursue a balanced wrench. In Shadow Hand simulation, it achieved 91.6% success and 2.4±4.2 mm position error, versus 87.7% and 12±6.5 mm with independent equal-force control; lifting is not controlled.
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