Geodesic Tracing-Based Kinematic Integration of Rolling and Sliding Contact on Manifold Meshes for Dexterous In-Hand Manipulation
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866916904682127360 |
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| author | Wang, Sunyu Lakshmipathy, Arjun S. Oh, Jean Pollard, Nancy S. |
| author_facet | Wang, Sunyu Lakshmipathy, Arjun S. Oh, Jean Pollard, Nancy S. |
| contents | Reasoning about rolling and sliding contact, or roll-slide contact for short, is critical for dexterous manipulation tasks that involve intricate geometries. But existing works on roll-slide contact mostly focus on continuous shapes with differentiable parametrizations. This work extends roll-slide contact modeling to manifold meshes. Specifically, we present an integration scheme based on geodesic tracing to first-order time-integrate roll-slide contact directly on meshes, enabling dexterous manipulation to reason over high-fidelity discrete representations of an object's true geometry. Using our method, we planned dexterous motions of a multi-finger robotic hand manipulating five objects in-hand in simulation. The planning was achieved with a least-squares optimizer that strives to maintain the most stable instantaneous grasp by minimizing contact sliding and spinning. Then, we evaluated our method against a baseline using collision detection and a baseline using primitive shapes. The results show that our method performed the best in accuracy and precision, even for coarse meshes. We conclude with a future work discussion on incorporating multiple contacts and contact forces to achieve accurate and robust mesh-based surface contact modeling. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_12439 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Geodesic Tracing-Based Kinematic Integration of Rolling and Sliding Contact on Manifold Meshes for Dexterous In-Hand Manipulation Wang, Sunyu Lakshmipathy, Arjun S. Oh, Jean Pollard, Nancy S. Robotics Reasoning about rolling and sliding contact, or roll-slide contact for short, is critical for dexterous manipulation tasks that involve intricate geometries. But existing works on roll-slide contact mostly focus on continuous shapes with differentiable parametrizations. This work extends roll-slide contact modeling to manifold meshes. Specifically, we present an integration scheme based on geodesic tracing to first-order time-integrate roll-slide contact directly on meshes, enabling dexterous manipulation to reason over high-fidelity discrete representations of an object's true geometry. Using our method, we planned dexterous motions of a multi-finger robotic hand manipulating five objects in-hand in simulation. The planning was achieved with a least-squares optimizer that strives to maintain the most stable instantaneous grasp by minimizing contact sliding and spinning. Then, we evaluated our method against a baseline using collision detection and a baseline using primitive shapes. The results show that our method performed the best in accuracy and precision, even for coarse meshes. We conclude with a future work discussion on incorporating multiple contacts and contact forces to achieve accurate and robust mesh-based surface contact modeling. |
| title | Geodesic Tracing-Based Kinematic Integration of Rolling and Sliding Contact on Manifold Meshes for Dexterous In-Hand Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2508.12439 |