Contact-Aware Motion Planning

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18 papers4 papers in the last four weeks, level with the four weeks before. 0.0% of all new papers.

  1. Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain

    Nov 3, 2026Roberto Mauceri, Stefano Dafarra, Giulio Romualdi +2Contact-Implicit Trajectory OptimizationTrajectory Optimization

    Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, 16163 Genoa, Italy. · Dept. of Computer Science, University of Manchester, Manchester M13 9PL, U.K. · Dept. of Civil and Industrial Engineering, University of Pisa, 56126 Pisa, Italy.

  2. Back to the Future: Predicting Long-Horizon Dynamics with Retrospective Correction for Disturbance-Aware Retrieval

    Nov 1, 2026Jiwoong Choi, Haoyu Li, Yiwei LyuLong-Horizon Robotic ManipulationContact-Aware Motion Planning

    Dept. of Aerospace Eng. and Eng. Mechanics, University of Texas at Austin · Dept. of Computer Sci. and Eng., Texas A&M University

  3. Contact-based optimization for collision-free motion planning for a million robots

    Oct 30, 2026Jan Kamm, Antonio Terpin, Raffaello D'AndreaMulti-Robot Motion PlanningTrajectory Optimization

    Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland

  4. PushAround: Collaborative Path Clearing via Physics-Informed Hybrid Search

    Oct 26, 2026Zili Tang, Zongyuan Li, Zishao Qiao +1Motion PlanningMulti-Robot Motion Planning

    Peking University, Beijing 100871, China: School of Advanced Manufacturing and Robotics · Peking University, Beijing 100871, China: College of Engineering

  5. Humanoid Mobility via Attention-based Contacts

    Oct 22, 2026Junzhe He, Kehan Wen, Chong Zhang +7Humanoid Robot LocomotionTerrain-Aware Robot Locomotion

    Robotic Systems Lab, ETH Zurich, 8092 Zurich, Switzerland. · Previously at 1, now at Department of Electrical and Computer Engineering, National University of Singapore, Singapore. · ETH AI Center +2

  6. H-SPAR: Hydrodynamic-aware Simulation for Particle Transport and Autonomous Robots

    Oct 1, 2026Navid Zarrabi, Nariman Yousefi, Sajad SaeediContact-Aware Motion PlanningRobotic Data Collection

    Department of Mechanical, Industrial, and Mechatronics Engineering, Toronto Metropolitan University, Toronto, Ontario, Canada. · Department of Chemical Engineering, Toronto Metropolitan University, Toronto, Ontario, Canada. · Department of Computer Science, University College London, London, United Kingdom.

  7. Planning Trajectories that Bounce: Reflection Classes for Collision-Tolerant Robots

    Sep 22, 2026Subhadeep Koley, Subhrajit Bhattacharya, David SaldañaContact-Aware Motion PlanningTrajectory Generation

    Lehigh University, Bethlehem, PA 18015, USA

  8. Relative Contact Velocity-Controlled Hand-Object Mechanism for Dexterous Tool Manipulation

    Sep 22, 2026Sunyu Wang, Jean Oh, Nancy S. PollardContact-Aware Motion PlanningDexterous Manipulation

    The authors are with the Robotics Institute at Carnegie Mellon University, Pittsburgh, USA.

  9. Contact-Rich Motion Planning via GPU-Parallel Mode Evaluation

    Sep 18, 2026Jiayun Li, Georgia ChalvatzakiContact-Aware Motion PlanningMotion Planning

    PEARL Lab, Department of Computer Science, TU Darmstadt, Darmstadt, Germany · Hessian.AI, Darmstadt, Germany · Robotics Institute Germany (RIG), Germany

  10. FlexWorm: Primitive-augmented Hybrid Contact-motion Planning for Suction-based Multi-segment Deformable Robots

    Aug 17, 2026Zili Tang, Tiecheng Guo, Qinyue Zhang +1Contact-Aware Motion PlanningMotion Planning

    School of Advanced Manufacturing and Robotics, Peking University, Beijing 100871, China

  11. Contact Modes Are Strata: What Geometric Structure Buys in Discrete-Continuous Planning

    Aug 16, 2026Phone Thiha Kyaw, Jonathan KellyConstrained Motion PlanningContact-Rich Robotic Manipulation

    Space and Terrestrial Autonomous Robotic Systems (STARS) Laboratory University of Toronto Institute for Aerospace Studies (UTIAS) Toronto, Ontario M3H 5T6, Canada

  12. Motion Generation With Environmental Constraints

    Jul 27, 2026Előd Páll, Oliver BrockConstrained Motion PlanningContact-Aware Motion Planning

    Robotics and Biology Laboratory, Technische Universität Berlin, Germany · Science of Intelligence, Research Cluster of Excellence, Berlin, Germany

  13. FARO: Feasibility-Aware Robot Motion Optimization

    Jul 20, 2026Michal Ciebielski, Shafeef Omar, Aaron Johnson +1Humanoid Loco-ManipulationKinodynamic Motion Planning

    Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany. · Institute for Advanced Study, Technical University of Munich, Garching, Germany. · Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA.

  14. SPACE: Swarm Pheromone Fields for Adaptive Collision-Aware Exploration

    Jun 28, 2026Haohua Que, Haojia Gao, Mingkai Liu +3Robot Collision AvoidanceSwarm Robotics

    Department of Electronic Engineering, Tsinghua University, Beijing, China. · Tsinghua Shenzhen International Graduate School (SIGS), Tsinghua University, Shenzhen, China. · School of Software and Microelectronics, Peking University, Beijing, China.

  15. Task-Conditioned Uncertainty Costmaps for Legged Locomotion

    Apr 30, 2026Kartikeya Singh, Christo Aluckal, Romeo Orsolino +1Robot LocomotionEpistemic Uncertainty

    DRONES Lab, University at Buffalo, NY, USA · Ocado Technology, UK

  16. Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments

    Apr 17, 2026Aedan Mangan, Kehan Long, Ki Myung Brian Lee +3Constrained Motion PlanningContact-Aware Motion Planning

    Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, CA 92093, USA · SceniX Inc, New York, NY 10011, USA · Department of Electrical and Computer Engineering, University of California San Diego, San Diego, CA 92093, USA +1

  17. CT-Enabled Patient-Specific Simulation and Contact-Aware Robotic Planning for Cochlear Implantation

    Mar 5, 2026Lingxiao Xun, Gang Zheng, Alexandre Kruszewski +1Contact-Aware Motion PlanningCosserat Rod Modeling

  18. Direct Contact-Tolerant Motion Planning With Vision Language Models

    Mar 5, 2026He Li, Jian Sun, Chengyang Li +4Contact-Aware Motion PlanningRobot Navigation

    State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), University of Macau, Macau, China. · Department of Electrical and Computer Engineering, The University of Hong Kong, Hong Kong, China. · Shenzhen Institutes of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen, China.