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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2602.03350 |
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| _version_ | 1866911418298662912 |
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| author | Lee, Haegu Kim, Yitaek Rask, Casper Hewson Sloth, Christoffer |
| author_facet | Lee, Haegu Kim, Yitaek Rask, Casper Hewson Sloth, Christoffer |
| contents | Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on point contact models due to their computational effi- ciency. Simple contact models are computationally efficient but inherently limited for achieving human-like, contact-rich ma- nipulation, as they fail to capture key frictional dynamics and torque generation observed in human manipulation. This study introduces a Force-Distributed Line Contact (FDLC) model in contact-rich manipulation and compares it against conventional point contact models. A bi-level optimization framework is constructed, in which the lower-level solves an optimization problem for contact force computation, and the upper-level optimization applies iLQR for trajectory optimization. Through this framework, the limitations of point contact are demon- strated, and the benefits of the FDLC in generating efficient and robust trajectories are established. The effectiveness of the proposed approach is validated by a box rotating task, demonstrating that FDLC enables trajectories generated via non-uniform force distributions along the contact line, while requiring lower control effort and less motion of the robot. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_03350 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Manipulation via Force Distribution at Contact Lee, Haegu Kim, Yitaek Rask, Casper Hewson Sloth, Christoffer Robotics Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on point contact models due to their computational effi- ciency. Simple contact models are computationally efficient but inherently limited for achieving human-like, contact-rich ma- nipulation, as they fail to capture key frictional dynamics and torque generation observed in human manipulation. This study introduces a Force-Distributed Line Contact (FDLC) model in contact-rich manipulation and compares it against conventional point contact models. A bi-level optimization framework is constructed, in which the lower-level solves an optimization problem for contact force computation, and the upper-level optimization applies iLQR for trajectory optimization. Through this framework, the limitations of point contact are demon- strated, and the benefits of the FDLC in generating efficient and robust trajectories are established. The effectiveness of the proposed approach is validated by a box rotating task, demonstrating that FDLC enables trajectories generated via non-uniform force distributions along the contact line, while requiring lower control effort and less motion of the robot. |
| title | Manipulation via Force Distribution at Contact |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.03350 |