- Learning-based tactile perception + interpretable force control
- Multi-contact, adaptive grasp stabilization
- Event-triggered reaction to slip (no friction modeling)
➡️ Project page: https://thayral.github.io/reactive-slip-control/
Paper accepted at ICRA 2026 Reactive Slip Control in Multifingered Grasping: Hybrid Tactile Sensing and Internal-Force Optimization Théo Ayral, Saifeddine Aloui, Mathieu Grossard
➡️ This work is part of the PhD thesis
Learning-based slip detection for adaptive grasp control
Théo AYRAL
CEA (Leti & List) · Université Paris-Saclay
https://github.com/thayral/PhD-manipulation