2026
Hierarchical Reactive Grasping Via Task-Space Velocity Fields and Joint-Space Quadratic Programming
ICRA 2026poster
We present a fast and reactive grasping framework that combines task-space velocity fields with joint-space Quadratic Program (QP) in a hierarchical structure. Reactive, collision-free global motion planning is particularly challenging for high-DoF systems, as simultaneous increases in state dimensi…