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cs.RO2025
Geodesic Tracing-Based Kinematic Integration of Rolling and Sliding Contact on Manifold Meshes for Dexterous In-Hand Manipulation
Sunyu Wang, Arjun S. Lakshmipathy, Jean Oh +1
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…
cs.RO2025
Fast Estimation of Globally Optimal Independent Contact Regions for Robust Grasping and Manipulation
Jonathan P. King, Harnoor Ahluwalia, Michael Zhang +1
This work presents a fast anytime algorithm for computing globally optimal independent contact regions (ICRs). ICRs are regions such that one contact within each region enables a v…