Contact-Rich Manipulation

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Period ending 2026-09-21

31 new papers

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Period ending 2026-09-14

7 new papers

A weekly snapshot of new work published in Contact-Rich Manipulation.

Period ending 2026-09-07

8 new papers

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  1. Effects of Assistance Delay on Joint Mechanics and Energetics in Biological Torque Control of a Hip Exoskeleton

    Sep 21, 2026Jimin An, Ryan Lee, Jingshu Peng +2ExoskeletonActuator

  2. A Switched Adaptive Control Framework for Aerial Manipulators Under Dynamic Transitions

    Sep 21, 2026Rishabh Dev Yadav, Saksham Gupta, Amitabh Sharma +4Aerial ManipulationRobotic Arms

  3. Estimation and Control of Tensegrity Manipulator Kinematics based on Strut Inclination Angles

    Sep 21, 2026Tufail Ahmad Bhat, Shuhei IkemotoRobotic Arms

  4. Object-Centered Reconstruction for Vision-Based 3D Force Estimation

    Sep 20, 2026Zhonghao Zhang, Mingyeung Wu, Hao Yang +3Robot-Assisted Minimally Invasive SurgeryGround Reaction Forces

  5. Design and Control of a Cable-Driven Switchable Actuator with Torque/Tension Dual Modes for Exoskeletons

    Sep 20, 2026YuanLong Ji, Xu Liu, Xinyuan Cai +8ExoskeletonActuator

  6. Walking on the Slope: Stable Bipedal Gaits with Genetic-Algorithm-Optimized Trajectories

    Sep 17, 2026Madhav RijalLegged RobotsInverse Kinematics

  7. Resilient Motion Planning for Free-Flying Space Robots under Actuator Failures

    Sep 17, 2026Nicolas de Maddalena, Joris Verhagen, Jana TumovaMotion PlannersRobot Systems

  8. Decoupling Physical Speed from Path Parameterization in Singularity-Free Guiding Vector Fields

    Sep 17, 2026Zhouru Xiao, Sha Luo, Yang Lu +5Vector FieldsNeural Guidance

  9. Enhancing the Perception of Safety and Comfort during Physical Human-Robot Handshake Interactions by Integrating Flexible Elements into a Robotic Arm

    Sep 16, 2026Joel Hidalgo, Dennys Paillacho, Melissa Cobos +1Human-Robot InteractionDexterous Robot Hands

  10. Feasibility and Singularity in High-Order Safety-Critical Control for Quadrotor UAVs

    Sep 16, 2026Omayra Yago Nieto, Leonardo ColomboControl Barrier FunctionsCollision Avoidance

  11. A Morphing Aerial Robot With Thruster-Integrated Flexible Continuum Links for Shape Adaptive Aerial Manipulation

    Sep 16, 2026Eri Sawada, Kazuki Sugihara, Ayano Miyamichi +2Aerial ManipulationAerial Robots

  12. DynoFluxBench: Benchmarking Kinodynamic Space-Time Planners in Dynamic Environments

    Sep 16, 2026Franz Queißner, Andreas Orthey, Wolfgang HönigMotion PlannersTrajectory Optimization

  13. TAO-Force: Unifying Force-Aware Perception and Fast-Slow Control for Contact-Rich Manipulation

    Sep 16, 2026Bohan Gan, Xuanzhang Wen, Yongsheng Zhao +8Generalizable Robotic ManipulationsContact-Rich Manipulation

  14. A3P5 NEMESIS Integrated Rover Design for Environmental Reconnaissance and Robotic Sampling with Reproducible Mobility Analysis and an External Data Machine Learning Calibration Benchmark

    Sep 16, 2026Shafi Bin Sultan, Sabik Bin Sultan, Safwan SadadAutonomous Surface VehiclesGround Reaction Forces

  15. ForceDelta-VLA: Distilling Force-Conditioned ActionCorrections for Contact-Rich Manipulation

    Sep 16, 2026Ju Dong, Yu Fu, Jian Chen +9Vision-Language-Action ModelsManipulation

  16. Approximating High Dimensional Self-Motion Manifolds via Deep Generative Models

    Sep 16, 2026Haitao Gao, Yang Song, Liao WuRobotic ArmsMotion Planners

  17. LUMO: Designing Luminous Contact Morphology for Repeatable Whole-Finger Contact Observation

    Sep 16, 2026Dong Ho Kang, Youngsu Ko, Luis SentisFingerContact Forces

  18. Energy-Regularized Imitation Learning for Force- and Work-Aware Robotic Manipulation

    Sep 16, 2026Toshiki Otani, Hiromu Taketsugu, Norimichi UkitaRobotic Manipulation PoliciesGeneralizable Robotic Manipulations

  19. Online Multimodal Workload Assessment in Contact-Rich Physical Human-Robot Interaction

    Sep 16, 2026Yanyi Chen, Fan Yang, Min DengHuman-Robot InteractionContact-Rich Manipulation

  20. Optimized Wrench Polytope Analysis for Real-Time Stability Control of Legged Robots in Complex Multi-Contact Configurations

    Sep 15, 2026Friedrich Graaf, Elias Birkefeld, Christian Eichmann +5Legged RobotsActuator

  21. Flexible-body Modeling, Kinematic Identification, and Assembly Accuracy of Overconstrained Spatial Linkages

    Sep 15, 2026Daniel Huczala, Michael Pieber, Johannes Gerstmayr +6Kinematic ChainRigid-Body Dynamics

  22. Beyond Gestures: Estimating Full Hand Pose and Contact Forces from Wrist-Worn Pressure Sensor Array

    Sep 15, 2026Svetoslav Kolev, Lingni Ma, Michael Goesele +3WristFinger

  23. XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation

    Sep 14, 2026Xiwen Dengxiong, Xueting Wang, Ke Jing +2TeleoperationHaptic Feedback

  24. WLA^3: World Latent Action Modeling for Semantics, Dynamics, and Kinematics

    Sep 14, 2026Peidong Liu, Zhiyuan Xiang, Mingyang Li +4Latent ActionsKinematics

  25. Learning to Exploit Passive Dynamics for Energy-Efficient Target Hopping of a Spring-Legged Quadcopter

    Sep 14, 2026Ruigang Chen, Qi Zhang, Zhicheng Zhong +3Quadrotor ControlActuator

  26. Assistance Torque Estimation via Dynamics-Aware Optimization for Lower-Limb Exoskeleton in Complex Environments

    Sep 14, 2026Xiao-Yin Liu, Guotao Li, Weiqun Wang +1ExoskeletonActuator

  27. PredTac: Learning Contact-Rich Manipulation with Predicted Touch

    Sep 14, 2026Weijia Fan, Daqiang GuoContact-Rich ManipulationManipulation

  28. Task-Distribution-Aware Counterweight Synthesis and Constrained Co-Design for Serial Manipulators

    Sep 14, 2026Mohammad AbbadiActuatorRobotic Arms

  29. 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. OnalGround Reaction ForcesCategory-Level Object Pose Estimation

  30. From Transportation to Manipulation: Enabling Grasping in Magnetic Robotics

    Sep 14, 2026Lara Bergmann, Noah Greis, Cedric Grothues +2GripperRobotic Arms

  31. Global Path Planner with Multi-Model Switching

    Sep 14, 2026Pietro Gori, Francesco Iotti, Eduard Zelenay +5Coverage Path PlanningQuadrotor Flight

  32. A Data-Driven Distributed Control Scheme: Learning Multi-Objective Agent-Based MPC for Path-Tracking

    Sep 14, 2026Jiaming Zhong, Reza Valiollahi Mehrizi, Yash Vardhan Pant +1Model Predictive ControlMulti-Agent Reinforcement Learning

  33. 3D Digital Twin Visualization of Multiclass GRF-Based Gait Disorder Classification

    Sep 14, 2026Nayoung Son, Minwoo ShinSingle-Subject Gait DatasetGround Reaction Forces

  34. Battery-Aware Predictive Trajectory Planning and Control for Multirotors Under Disturbances

    Sep 14, 2026Krishna Bhavithavya KidambiTrajectory OptimizationActuator

  35. Hybrid Physics-AI Framework of Body Center of Mass Dynamics from Wrist-Worn Sensors

    Sep 14, 2026Shuhao Que, Valentina Breschi, Ying WangInertial Measurement UnitsPose-Guided Kinematic Reasoning

  36. PhysioAI: Clinical Knowledge-Guided Semantic Supervision for Skeleton-Based Physiotherapy Action Recognition

    Sep 14, 2026Jie Cao, Euijoon Ahn, Anwar Hassan +1Skeleton-Based Action RecognitionRehabilitation

  37. Language-Guided Terrain-Adaptive Neural MPC for Autonomous Traversal of Articulated Tracked Robots

    Sep 11, 2026Zhenfeng Gan, Yanbo Chen, Lirong Che +3Autonomous NavigationRobot Systems

  38. Distributed Stochastic Optimal Control for Pattern-Oriented Swarms

    Sep 11, 2026Qingrui Zhang, Chenghao Yu, Feng Xue +1Unmanned Aerial Vehicle SwarmsSwarms

  39. Modular Kinematic Reduction of Closed-Chain Mechanisms Using Path Assembly and Defect Homotopy

    Sep 11, 2026Mohammad Dastranj, Jouni MattilaKinematic ChainKinematics

  40. Morphology-Aware Human Motion Retargeting for Wheeled-Humanoid Loco-Manipulation

    Sep 11, 2026Chenbo Xia, Chao YeHumanoid Loco-ManipulationMotion Retargeting

  41. Planning along Differentiable Charts of Constraint Manifolds with General-Purpose IK Solvers

    Sep 11, 2026Thomas Cohn, Seiji Shaw, Harel Biggie +3Inverse KinematicsKinematics

  42. GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives

    Sep 11, 2026Muyuan Ma, Yi Zhang, Yang Yang +12TraversabilityRobot Trajectories

  43. Lie-Algebraic Bell Recurrences for Arbitrary-Order Twist Jets and Parallel-Mechanism Closure

    Sep 11, 2026Daniel ConduracheKinematicsPolynomials

  44. GM-Loco: Terrain-Adaptive Humanoid Locomotion on Granular Media

    Sep 9, 2026Junnosuke Kamohara, Feiyang Wu, Andy Ningan Zong +4TerrainContact Forces

  45. PccDiffuser: Multi-solution Motion Planning for Continuum Robots

    Sep 9, 2026Ke Qiu, Sifan Chen, Si Wang +3Motion PlannersSoft Robots

  46. Actuator Dynamics Curricula for Narrow-Viability Tasks in Legged Robot Learning

    Sep 8, 2026Kousheek Chakraborty, Chandan K. Rajendra, Ayham Alharbat +1Control System Operator LearningActuator

  47. Coverage Path Planning for Redundant Manipulators using Generalized Spanning Trees

    Sep 8, 2026Raksi Kopo, Kostas J. KyriakopoulosCoverage Path PlanningInverse Kinematics

  48. Supervised Cross-Modal Feature Alignment for Zero-Wearable Freezing of Gait Detection in Parkinsonism

    Sep 8, 2026Aryan Singh, Chandan BiswasGait RecognitionParkinson

  49. TacClip: a clip-on sensor measures dynamic contact forces without covering the fingerpads

    Sep 8, 2026Yuqian Ye, Hao Li, Jingxi Xu +3Tactile SensorsFinger

  50. Proprioception-Anchored Cross-Modal Pretraining for Zero-Shot Sim-to-Real Contact-Rich Assembly

    Sep 7, 2026Yuhan Wang, Yurou Chen, Hongye Jiang +2Zero-Shot Sim-To-Real TransferProprioception

  51. FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation

    Sep 3, 2026Yutian Zhang, Siyuan Ma, Liwen Yang +6Task-Centric Hybrid Whole-Body ControllerHumanoid Loco-Manipulation

  52. Predictive Zonotope Reduction: Precise Runtime Monitoring under Uncertainty

    Sep 3, 2026Vladimir Krsmanovic, Florian Kohn, Bernd Finkbeiner +1Model Predictive ControlReduced-Order Models

  53. TRACE: Spatiotemporal Contact Memory Graph Network Simulator for Granular Dynamics

    Sep 2, 2026Changjian Zhou, Negin Yousefpour, Jie Qi +3Contact ForcesFinite Element Method

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

    Sep 2, 2026Euncheol Im, Taehyun Kim, Yonghwan Oh +2Model Predictive Path IntegralActuator

  55. On Global Regulatability of Robot Manipulators by Classical PID

    Sep 1, 2026Cheng Zhao, Jingru Zhu, Lei GuoAdaptive ControllerRobotic Arms

  56. Behavior--Realization Separation for Constrained Physical Human--Robot Interaction

    Sep 1, 2026Yongyan CaoHuman-Robot InteractionActuator

  57. Geometric analysis of generic 3R robots, and necessary and sufficient conditions for a class of orthogonal robots to have four IKS

    Aug 31, 2026Durgesh Haribhau Salunkhe, Abhilash NayakInverse KinematicsKinematics

  58. Inverse kinematic solution for generic 3R positional robots using Conformal Geometric Algebra

    Aug 31, 2026Abhilash Nayak, Durgesh Haribhau SalunkheInverse KinematicsKinematics

  59. A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles

    Aug 31, 2026Jingcheng Jiang, Yifang Zhang, Nikos G. TsagarakisSoft Pneumatic ActuatorsActuator

  60. MiBOT: A head-worn robot that modulates cardiovascular responses through human-like soft massage

    Aug 30, 2026Alice Mylaeus, Stephanie Vogt, Berken Utku Demirel +4Soft RobotsHeart Rate