Methods, grasping systems, and computer-readable mediums storing computer executable code for grasping an object are provided. In an example, a depth image of the object may be obtained by a grasping system. A potential grasp point of the object may be determined by the grasping system based on the depth image. A tactile output corresponding to the potential grasp point may be estimated by the grasping system based on data from the depth image. The grasping system may be controlled to grasp the object at the potential grasp point based on the estimated tactile output.