Théo Ayral

Reactive Slip Control in Multifingered Grasping: Hybrid Tactile Sensing and Internal-Force Optimization

We build a low-level reflex control layer driven by fast tactile feedback for multifinger grasp stabilization. Our hybrid approach combines learned tactile slip detection with model-based internal-force control to halt in-hand slip while preserving the object-level wrench. The multimodal tactile sta…