FastGrasp: Learning-based Whole-body Control method for Fast Dexterous Grasping with Mobile Manipulators

arXiv:2604.12879v1 Announce Type: cross Abstract: Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and generalization across diverse objects and scenarios, limited by fixed bases, simple grippers, or slow tactile response capabilities. We propose \textbf{FastGrasp}, a learning-based framework that integrates grasp guida