Force-Aware 3D Contact Modeling
for Stable Grasp Generation
Abstract
Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these approaches often overlook the physical attributes of the grasp, specifically the contact force, leading to reduced stability of the grasp. In this paper, we focus on stable grasp generation using explicit contact force predictions. First, we define a force-aware contact representation by transforming the normal force value into discrete levels and encoding it using a one-hot vector. Next, we introduce force-aware stability constraints. We define the stability problem as an acceleration minimization task and explicitly relate stability with contact geometry by formulating the underlying physical constraints. Finally, we present a pose optimizer that systematically integrates our contact representation and stability constraints to enable stable grasp generation. We show that these constraints can help identify key contact points for stability which provide effective initialization and guidance for optimization towards a stable grasp. Experiments are carried out on two public benchmarks, showing that our method brings about 20% improvement in stability metrics and adapts well to novel objects.
Our method jointly capture the distribution of contact likelihood and force values, which are then used to extract key contact points using a simple yet effective physics model. The keypoints provide strong initialization and guidance for grasp optimization.
Second image description.
BibTeX
@inproceedings{chen2026forceaware3d,
title={Force-Aware 3D Contact Modeling for Stable Grasp Generation},
author={Chen, Zhuo and Zhang, Zhongqun and Cheng, Yihua and Leonardis, Ales and Chang, Hyung Jin},
booktitle={Annual AAAI Conference on Artificial Intelligence (AAAI)},
year={2026},
}