Contact-Rich Manipulation

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Actuator

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Robotic Arms

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Contact-Rich Manipulation

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Kinematics

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Ground Reaction Forces

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Inverse Kinematics

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Contact Forces

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Pose-Guided Kinematic Reasoning

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478 papers

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Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator
Jun 4, 2026Joel Ramadani, Vasilije Rakčević, Riddhiman Laha +4Robotic Arms Robust Manipulation
From Pixels to Newtons: Predicting In Vivo Joint Contact Forces from Monocular Video
Jun 4, 2026Jessy LauerKnee Osteoarthritis Contact Forces
Simultaneous hyperkinetic movement disorders phenotyping: a cross-cohort pediatric transfer study using routine videos, markerless pose estimation and a tabular foundation model
Jun 4, 2026Laura Cif, Diane Demailly, Zohra Souei +11Parkinson Pose-Guided Kinematic Reasoning
TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation
Jun 4, 2026Dongwon Son, Florian Shkurti, Jason Lee +3Actuator Robotic Manipulation Policies
SC-MFJ: A Simple Haptic Quality Metric for Medical Image Segmentation
Jun 4, 2026Souraj Adhikary, Negar Chabi, Andre MastmeyerMedical Image Segmentation Haptic Feedback
Learning Contact Representation for Leg Odometry
Jun 3, 2026Emre Girgin, Cagri KilicGround Reaction Forces Odometry
A New Quaternion-Joint Cable-Driven Redundant Manipulator Configuration and its Control Through FABRIK and Residual Reinforcement Learning
Jun 3, 2026Tanapath Pornthisan, Thanapat Kemthong, Thanyapisit Kangsathien +3Robotic Arms Quaternion
Extreme Motion Generation via Hybrid Null-Space Control for Straight-Line Path Following
Jun 2, 2026Xinyi Yuan, Weiwei Wan, Kensuke HaradaRobotic Arms Reinforcement-Learning Policies
ToolGate: Token-Efficient Pre-Call Control for Tool-Augmented Vision-Language Agents
Jun 2, 2026Anjie Liu, Yan Song, Zhixun Chen +3Multi-Turn Tool-Use Agent Perceptual Understanding
Hybrid Dynamics Modeling for a Flexible 2-DoF Robotic Arm
Jun 2, 2026Maciek Popik, Daniel Yang, Mahdis BishebanRigid-Body Dynamics Dynamics Models
Terminal Time and Angle-Constrained Nonlinear Intercept Guidance
Jun 1, 2026Shivam Bajpai, Abhinav SinhaNeural Guidance Kinematics
FlipItRight: Stable Pose-Targeted Throw-Flip Across Diverse Objects
Jun 1, 2026Axel Dawne, Shinkyu ParkRobotic Arms Flips
PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking
May 30, 2026Junnan Nie, Jiayi Li, Jiachen Zhang +4Action Chunks Robot Policies
Adaptive PD Gains for Energy-Conscious Control in Physical Human-Robot Interaction
May 30, 2026Danyal Saqib, Francisco Andrade Chavez, Marie CharbonneauAdaptive Controller Actuator
Behavior Cloning of MPC for 3-DOF Robotic Manipulators
May 29, 2026Theo Guegan, Dexter Wen Jie TeoModel Predictive Control Behavior Cloning
Actuator-Aware Inverse Kinematics with Joint-Limit Admissibility for Torque-Controlled Redundant Robots
May 29, 2026Mohammad Dastranj, Mahdi Hejrati, Jouni MattilaInverse Kinematics Actuator
Shaft-integrated Force Sensing with Transformer-based Dynamics Compensation for Telesurgery
May 29, 2026Shuyuan Yang, Grant Boone, Timo Markert +4Robot-Assisted Minimally Invasive Surgery Ground Reaction Forces
A study on a Real-Time VR-Based Teleoperation Framework for Manipulator in Dynamic Environment
May 29, 2026InGyu Choi, GeonYeong Go, SunWoo Ahn +2Teleoperation Robotic Arms
WristCompass: Kinematic Coupling as a Learnable Visual Concept for Ego-Camera Orientation
May 29, 2026Varun Nair, Vidyut Baradwaj, Jiahang He +33D Hand Ego-Motion
NeuROK: Generative 4D Neural Object Kinematics
May 28, 2026Chen Geng, Guangzhao He, Yue Gao +34D Generation Pose-Guided Kinematic Reasoning
Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation
May 27, 2026Jiahe Pan, Stelian Coros, Jitendra Malik +1Zero-Shot Sim-To-Real Transfer Contact Forces
Mag-VLA: Vision-Language-Action Model for Bimanual Magnetically Actuated Microrobot Manipulation
May 27, 2026Yongchen Wang, Kangyi Lu, Lan Wei +1Generalizable Robotic Manipulations Vision-Language-Action Models
Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints
May 27, 2026Faisal Lawan, Xiaoran Han, Joaquin Carrasco +2Impedance Control Control Barrier Functions
Identifying Explicit Parsimonious Piece-wise Polynomial Relationships in Industrial time-series: Application to manipulator robots
May 27, 2026Mazen Alamir, Sacha ClavelSystem Identification Robotic Arms
Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization
May 27, 2026Zhe Zhang, Xingrong Diao, Haoxiang Liang +4Contact-Rich Manipulation Robotic Arms
TCBiRRT: Rapid Motion Planning for Tightly Coupled Dual-arm Space Manipulator Using Task-space Random Expansion
May 26, 2026Jiawei Zhang, Xinhao Miao, Jifeng Guo +2Motion Planners Robotic Arms
Learning to Balance Motor Thermal Safety and Quadrupedal Locomotion Performance with Residual Policy
May 26, 2026Yuhang Wan, Weixian Lin, Letian Qian +5Perceptive Locomotion Policies Locomotion Stability
PhyPush: One Push is All You Need for Sensorless Physical Property Estimation with Physics-Guided Transformers
May 25, 2026Koyo Fujii, Luis Figueredo, Praminda Caleb-Solly +4Ground Reaction Forces Friction
Implicit Null-space Manifold Generation for Redundant Robotic Systems
May 25, 2026Taiki Ishigaki, Teresa Vidal-Calleja, Ko Ayusawa +1Robotic Arms Manifolds
Safety-Critical Whole-Body Control for Humanoid Robots via Input-to-State Safe Control Barrier Functions
May 25, 2026Kwanwoo Lee, Sanghyuk Park, Gyeongjae Park +2Task-Centric Hybrid Whole-Body Controller Control Barrier Functions
Prior Policy Guided Dual-Agent Coordinated Manipulation Planning of Spacecraft-Manipulator System
May 25, 2026Yuhui Hu, Dong Zhou, Kaihong Ouyang +3Robotic Arms Robotic Manipulation Policies
Manifold-Constrained MPPI: Real-Time Sampling-Based Control Under Hard Constraints
May 24, 2026Seulchan Lee, Sanghyun KimModel Predictive Path Integral Robotic Arms
How Noisy Poses Break Inverse Dynamics: Analysis and Mitigation for Video-Based Joint Torque Estimation
May 23, 2026Donghyun Kim, Chanyoung Kim, Eunseo Jeong +2Inverse Dynamics Parametric Body Models
Can Predicted Dynamics Exist in the Physical World?
May 23, 2026Barak OrDynamic Process Model Admissibility
Polymander II: an amphibious salamander-inspired robot with contact and flow sensors
May 23, 2026Qiyuan Fu, Sudong Lee, Andrea Grillo +4Proprioception Robot Systems
Artiverse: A Diverse and Physically Grounded Dataset for Articulated Objects
May 23, 2026Denys Iliash, Jiayi Liu, Egor Fokin +43D Models Articulated Objects
IsaacIPC: Coupling High-Fidelity Simulation and Realistic Rendering for Contact-Rich Robotic Systems
May 23, 2026Qixin Liang, Zhongqing HanContact Forces Contact-Rich Manipulation
Whole-Body Inverse Kinematics with Graph Diffusion
May 23, 2026Helong Huang, Kai Tan, Feng Wen +2Inverse Kinematics
Investigating the Effect of a Series Elastic Actuation Retrofit to Black-Box Actuators
May 22, 2026Ivan Tregear, Ayhan Aktas, Ferdinando Rodriguez y BaenaSoft Pneumatic Actuators Actuator
Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos
May 22, 2026Constant Roux, Ludovic De Matteïs, Armand Jordana +4Motion Retargeting Motion Imitation
How Many Training Samples Are Needed for the Inverse Kinematics Solutions by Artificial Neural Networks
May 22, 2026Dong-Won LimInverse Kinematics Robotic Arms
Verified Task-Space Motion Planning Under Joint-Space Constraints
May 21, 2026Hanjiang Hu, Changliu Liu, Yebin WangMotion Planners Pose-Guided Kinematic Reasoning
Symmetries Here and There, Combined Everywhere: Cross-space Symmetry Compositions in Robotics
May 21, 2026Loizos Hadjiloizou, Rodrigo Pérez-Dattari, Noémie JaquierRobotics Symmetry
CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation
May 21, 2026Wentian Wang, Chutong Wen, Hongxu Ma +6Scalable Robot Learning Contact-Rich Manipulation
Industrial Dual-Arm Box Handling via Online Inertial Estimation and Convex Wrench Optimization
May 21, 2026Kenzhi Iskandar Wong, Lin Yang, Qian Ying Lee +1Robotic Arms Contact Forces
OCELOT: Odometry and Contact Estimation for Legged Robots
May 21, 2026Emre Girgin, Cagri KilicOdometry Proprioception
ConTact: Contact-First Antibody CDR Design via Explicit Interface Reasoning
May 20, 2026Mansoor Ahmed, Spencer VonBank, Nadeem Taj +3Antibody Structure-Based Drug Design
Fully Actuated Manifold Constraint Based Output Feedback Control for Input-Constrained Uncertain Nonlinear Systems
May 20, 2026Dianrui Mu, Changchun Hua, Yafeng Li +2Feedback Linearization Inequality Constraints
From swept contact to pose: Probe-aware registration via complementary-shape docking
May 20, 2026Chen Chen, Yunwen Li, Yifan Xu +5Feature Matching Contact-Rich Manipulation
Safety-Critical Control for Smoothed Implicit Contact Dynamics
May 20, 2026Haegu Lee, Yitaek Kim, Christoffer SlothControl Barrier Functions Contact Forces
Grounding Driving VLA via Inverse Kinematics
May 20, 2026Junsung Park, Hyunjung ShimTrajectory Prediction Vision-Language-Action Models
Mobile UMI: Cross-View Diffusion Policy with Decoupled Kinematics for Mobile Manipulation
May 20, 2026Haoran Huang, Haonan Dong, Huixu DongMotion Imitation Imitation Learning
Spacetime Optimal-Transport Attention for Visuo-Haptic Imitation Learning of Contact-Rich Manipulation
May 19, 2026Yue Feng, Weicheng Huang, I-Ming ChenMotion Imitation Actuator
Bilateral Teleoperation with Compliant 6-DOF Pose-and-Force Sensing
May 19, 2026Yue Feng, Weicheng Huang, I-Ming ChenTeleoperation Actuator
Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
May 18, 2026Hrishikesh Sathyanarayan, Victor Vantilborgh, Harish Ravichandar +2Generalizable Robotic Manipulations Contact-Rich Manipulation
Data-Driven Dynamic Modeling of a Tendon-Actuated Continuum Robot
May 18, 2026Harald Minde Hansen, Bjørn Kåre Sæbø, Kristin Y. Pettersen +2Dynamics Models Soft Robots
Articulation in Prime: Primitive-Based Articulated Object Understanding from a Single Casual Video
May 18, 2026Arslan Artykov, Tom Ravaud, Nicolás Violante-Grezzi +1Articulated Objects Ego-Motion
Active Defense Against False Data Injection Attacks in Robotic Manipulators
May 18, 2026Gabriele Gualandi, Carl Mikael Larsson, Alessandro V. PapadopoulosRobotic Arms Feedback Linearization
PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
May 17, 2026Jiarong Kang, Kunzhao Ren, Tao Pang +1Motion Estimation Contact Forces
TouchMap-OR: Multi-View 3D Mapping of Hand-Surface Contacts
May 17, 2026Sophokles Ktistakis, Rui Wang, Bastian Grande +13D Hand Finger

Jun 4, 2026 · cs.ROJ/K move · Enter open · S save

Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator

Joel Ramadani, Vasilije Rakčević, Riddhiman Laha, Arne Sachtler+3

Technical University of Munich · DLR Oberpfaffenhofen · MBZUAI Abu Dhabi

Non-prehensile object manipulation skills are important for real-world robot interactions, enabling highly dynamic tasks such as balancing a glass on a tray or the controlled sliding of items on a table. Among such tasks, those characterised by high-speed manipulation requirements and general sensitivity of the resulting hybrid dynamics are particularly hard to accomplish. Within these, juggling can be seen as a highly challenging maneuver to be solved. The key to robotic juggling is achieving dynamic stabilisation of an underactuated object. Since the object does not possess the ability of self-correction, its stability is entirely dependent on the forces applied to it. This creates a system that is sensitive to control inputs, where timing is critical to continuously counteract deviations and maintain the desired behavior. We develop a systematic method to control a 7-degree-of-freedom manipulator performing non-prehensile ball juggling with a tool. Our primary contribution is a model-based framework for generating juggling trajectories and stabilizing a periodic juggling motion for this hybrid system. The framework incorporates a two-stage optimal control approach to compute the underlying feasible motion patterns required for stable juggling. Offline-computed trajectories are then organised to enable real-time error correction without solving optimal control problems online. We demonstrate the effectiveness of the resulting controller by first evaluating its performance in a simulation environment and performing an experiment using a Franka Emika Panda robot.

Robotic Arms Robust Manipulation Optimal Control

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