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Sponsored Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt Design Multi-Agent AI Systems Using MCP and A2A: Engineer your own Pyt

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Matthew Beveridge

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Preprint Oct 2026

How Firm Should a Grasp Be?

An ideal robot grasp is firm enough to securely handle an object, yet gentle enough to avoid damaging it. Achieving this balance requires knowledge of the object's material properties, such as its mass, elasticity, and surface friction. These properties, however, are seldom precisely known a priori. In this work, we pr...

Matthew Beveridge, S. Nayar · 0 citations

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