Force-Controlled Robotic Manipulation

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29 papers in the last four weeks, up 867% on the four weeks before. 0.3% of all new papers.

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  1. Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation

    Sep 14, 2026Jiaqi Zhai, Jingkai Zhao, Chen Yang +10Language-Conditioned Robot ManipulationForce-Controlled Robotic Manipulation

    Hangzhou DEEP Robotics Technology Co., Ltd. (DEEP Robotics), Hangzhou, China · Tsinghua University, Beijing, China · Zhejiang University, Hangzhou, China +7

  2. Autonomous Precision Milling of Biological Structures via Generic Anatomical Priors and Active Boundary Perception

    Sep 14, 2026Enduo Zhao, Xiaofeng Lin, Yifan Wang +4Active Vision for Robot ManipulationRobotic Manipulation

    Department of Mechanical Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan · School of Biomedical Engineering, Tsinghua University, Beijing, China · Center for Disease Biology and Integrative Medicine, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan +2

  3. Control Architecture for Safe Grasping of Fragile Objects Using a Coarse Position-Controlled Gripper

    Sep 14, 2026Marko Pavlic, Moritz Geier, Timo Markert +1Robotic GraspingContact-Rich Robotic Manipulation

    Machine Vision and Perception Group, Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich, Munich, Germany · Resense GmbH, Klingenberg, Germany · Semantic Information Systems Group, Osnabrück University, Osnabrück, Germany

  4. Before the Tipping Point: Force-Guided Active Perception for Shape-Agnostic Estimation of 3D Centers of Mass

    Sep 14, 2026Steven M. Hyland, Jing Xiao, Cagdas D. OnalActive PerceptionForce-Controlled Robotic Manipulation

    Robotics Engineering Department, Worcester Polytechnic Institute, MA 01609, USA

  5. GIFT: Glove-Inferred Force Transfer: Force-Aware Human-to-Robot Skill Transfer from a Wearable Sensing Glove to a Robot Hand Without Tactile Sensors

    Sep 12, 2026Tzach SarusiRobotic GraspingRobotic Manipulation

  6. Contact-Aware Incremental Model Predictive Control for an Underactuated Aerial Manipulator

    Sep 11, 2026Darwin Liu, Tamas Keviczky, Sihao SunNonlinear MPCForce-Controlled Robotic Manipulation

    Faculty of Mechanical Engineering, Delft University of Technology

  7. M3-Tele: A Unified Multimodal Teleoperational Framework for Compliant Whole-Body Mobile Manipulation

    Sep 7, 2026Hengxiang Chen, Shenwen Deng, Yujian Ma +3Mobile ManipulationContact-Rich Robotic Manipulation

    Arbeit Gruppe Dexterous Robotics Lab, Shenzhen Technology University, China

  8. Real-Time Dynamics-Based Torque-Sampling MPPI for Compliant and Force Aware Manipulation

    Sep 2, 2026Euncheol Im, Taehyun Kim, Yonghwan Oh +2Robotic ControlModel Predictive Control

    The Center for Humanoid Research, Korea Institute of Science and Technology (KIST), 02792 Seoul, South Korea · The School of Electrical Engineering, Korea University, 02841 Seoul, South Korea

  9. Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation

    Sep 1, 2026Haoyuan Deng, Haichao Liu, Wenkai Guo +6Robot Skill LearningContact-Rich Robotic Manipulation

    1PINE Lab, Nanyang Technological University, Singapore

  10. Enabling Scalable Kinesthetic Teaching via Observer-based Hand-guiding with Active Support

    Aug 11, 2026Anna Tuma, Giuseppe Monetti, Jochen J. Steil +1Force-Controlled Robotic ManipulationLearning from Demonstration

    Technology & Innovation Center, KUKA, Augsburg, Germany · Institute of Robotics and Process Control, Technische Universität Braunschweig, Braunschweig, Germany

  11. A Hierarchical Approach to Imitation Learning for Manipulation Tasks Requiring Time Varying Forces

    Aug 4, 2026Rishabh Shukla, Adithya Santhosh, Shaili Gandhi +2Bimanual Robotic ManipulationContact-Rich Robotic Manipulation

    Realization of Robotic Systems Lab (RROS) University of Southern California, Los Angeles, CA, USA

  12. URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation

    Jul 23, 2026Jiyou Shin, Youngjin Seo, Jaeseog Won +5Robotic ControlContact-Rich Robotic Manipulation

    The authors are with the Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon 2066, South Korea · The authors are with the Faculty of Intelligent Robotics, Sungkyunkwan University, Suwon 2066, South Korea

  13. One-Shot Multimodal Learning from Demonstration with Force-Constrained Elastic Maps

    Jul 10, 2026Brendan Hertel, Jonathan Spanos, Navya Garg +1Robot Skill LearningRobotic Manipulation

    Persistent Autonomy and Robot Learning (PeARL) Lab, University of Massachusetts Lowell, Lowell, MA 01854, USA.

  14. Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation

    Jul 6, 2026Zhe Zhao, Zhibin Li, Yilin Ou +1Robotic GraspingDexterous Manipulation

    State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications, China · University College London, United Kingdom

  15. CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping Under Uncertainty

    Jul 3, 2026Mingrui Yu, Yongpeng Jiang, Yongyi Jia +2Robotic GraspingContact-Rich Robotic Manipulation

  16. ForceBand: Learning Forceful Manipulation with sEMG

    Jun 24, 2026Botao He, Zhi Wang, Linna Kuang +8Robot Skill LearningContact-Rich Robotic Manipulation

    Amazon FAR · University of Maryland · Johns Hopkins University

  17. Transferring Contact, Not Just Motion: Compliant Grasping Across Dexterous Hands

    Jun 14, 2026Soofiyan Atar, Yao-Ting Huang, Michael YipRobotic GraspingDexterous Manipulation

    Department of Electrical and Computer Engineering University of California San Diego, United States

  18. Interaction Dynamics for Dexterous Manipulation

    Jun 12, 2026Yongyan CaoDexterous ManipulationContact-Rich Robotic Manipulation

    Y. Cao is with Voryx Robotic LLC, San Jose, CA 95136, USA

  19. WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning

    Jun 11, 2026Jaehwi Jang, Zhaoyuan Gu, Alfred Cueva +15Contact-Rich Robotic ManipulationWhole-Body Robotic Manipulation

    The Institute for Robotics and Intelligent Machines, Georgia Institute of Technology

  20. IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation

    Jun 9, 2026Jiawei Gao, Chaoqi Liu, Peilin Wu +2Robotic ControlContact-Rich Robotic Manipulation

    Harvard University · Stanford University

  21. FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation

    Jun 7, 2026Haotian He, Zeyu Yan, Qipeng Liu +2Robotic ControlWorld Models for Robotics

    School of Mathematical Sciences, Peking University · School of Artificial Intelligence, Shanghai Jiao Tong University.

  22. Tabero: Learning Gentle Manipulation with Closed-Loop Force Feedback from Vision, Touch, and Language

    May 27, 2026Qiwei Wu, Rui Zhang, Xin Xiang +4Language-Conditioned Robot ManipulationRobotic Manipulation

    Nvidia, Beijing, China · Hong Kong University of Sci

  23. TactileReflex: Noise-Statistics-Driven Vision-Tactile Reflex Control for Force-Sensitive Manipulation

    May 22, 2026Ziyan Feng, Yulong Fu, Zheng Li +6Robotic ControlVision-Based Tactile Sensing

    Thrust of Robotics and Autonomous Systems, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China. · School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.

  24. CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation

    May 21, 2026Wentian Wang, Chutong Wen, Hongxu Ma +6Robot Policy AdaptationRobot Skill Learning

    Synthoid AI · HKU

  25. Learning Hybrid-Control Policies for High-Precision In-Contact Manipulation Under Uncertainty

    Apr 21, 2026Hunter L. Brown, Geoffrey Hollinger, Stefan LeeRobotic ControlContact-Rich Robotic Manipulation

    Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR

  26. TDC: Sim-to-Real Transferable Directional Compliance for Contact-Rich Manipulation

    Feb 15, 2026Yifei Yang, Anzhe Chen, Zhenjie Zhu +6Contact-Rich Robotic ManipulationSim-to-Real Transfer

    Zhejiang University · Zhejiang Humanoid Robot Innovation Center

  27. Learning Force-Regulated Robotic Manipulation with a Low-Cost Tactile-Force-Controlled Gripper

    Feb 10, 2026Xuhui Kang, Tongxuan Tian, Sung-Wook Lee +3Robot Policy LearningRobotic Grasping

    Department of Computer Science, University of Virginia, Charlottesville, VA, USA. · Department of Computer Science, Columbia University, New York, NY, USA.

  28. Tracing Energy Flow: Learning Tactile-based Grasping Force Control to Reduce Slippage in Dynamic Object Interaction

    Dec 24, 2025Cheng-Yu Kuo, Hirofumi Shin, Takamitsu MatsubaraRobotic GraspingContact-Rich Robotic Manipulation

    Graduated School of Science and Technology, Nara Institute of Science and Technology, Nara 630-0192, Japan · Honda R&D, Ltd., Saitama 351-0114, Japan

  29. Compact Visuotactile World Models for Lifting: Prediction, Reward Alignment, and Force Constraints

    Date pendingQinzhen Ma (Rice University)Robot Skill LearningWorld Models for Robotics

    Rice University, USA