Probe-to-Grasp
IROS 2026 · 2026
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. This project presents a probe-to-grasp manipulation framework for estimating relative object stiffness using a passive soft-rigid two-finger hybrid gripper equipped with self-sensing pneumatic variable-stiffness joints.
By measuring internal pressure during contact, the system estimates interaction force and uses a practical probing strategy to infer relative object stiffness before grasping. The approach is validated through stiffness characterization experiments and real-world fruit grasping scenarios with spatially varying stiffness.