Push, Press, Slide: Mode-Aware Planar Contact Manipulation via Reduced-Order Models
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arXiv
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| Format: | Preprint |
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2026
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| _version_ | 1866910057053028352 |
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| author | Özcan, Melih Orguner, Umut Oguz, Ozgur S. |
| author_facet | Özcan, Melih Orguner, Umut Oguz, Ozgur S. |
| contents | Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that traditionally necessitate computationally expensive iterative control. In this paper, we propose a mode-aware framework for planar manipulation with one or two robotic arms based on contact topology selection and reduced-order kinematic modeling. Our core insight is that complex wrench-twist limit surface mechanics can be abstracted into a discrete library of physically intuitive models. We systematically map various single-arm and bimanual contact topologies to simple non-holonomic formulations, e.g. unicycle for simplified press-and-slide motion. By anchoring trajectory generation to these reduced-order models, our framework computes the required object wrench and distributes feasible, friction-bounded contact forces via a direct algebraic allocator. We incorporate manipulator kinematics to ensure long-horizon feasibility and demonstrate our fast, optimization-free approach in simulation across diverse single-arm and bimanual manipulation tasks. Supplementary videos and additional information are available at: https://sites.google.com/view/pushpressslide |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2603_12399 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Push, Press, Slide: Mode-Aware Planar Contact Manipulation via Reduced-Order Models Özcan, Melih Orguner, Umut Oguz, Ozgur S. Robotics Systems and Control Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that traditionally necessitate computationally expensive iterative control. In this paper, we propose a mode-aware framework for planar manipulation with one or two robotic arms based on contact topology selection and reduced-order kinematic modeling. Our core insight is that complex wrench-twist limit surface mechanics can be abstracted into a discrete library of physically intuitive models. We systematically map various single-arm and bimanual contact topologies to simple non-holonomic formulations, e.g. unicycle for simplified press-and-slide motion. By anchoring trajectory generation to these reduced-order models, our framework computes the required object wrench and distributes feasible, friction-bounded contact forces via a direct algebraic allocator. We incorporate manipulator kinematics to ensure long-horizon feasibility and demonstrate our fast, optimization-free approach in simulation across diverse single-arm and bimanual manipulation tasks. Supplementary videos and additional information are available at: https://sites.google.com/view/pushpressslide |
| title | Push, Press, Slide: Mode-Aware Planar Contact Manipulation via Reduced-Order Models |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2603.12399 |