Contact-Rich Manipulation

Ask about this field

Recent momentum

emerging

0 papers in the last 28 days · 0.0% of indexed attention

Twelve weeks of publication activity for this topic as it is defined today.

Weekly history

Recent digests

What was published in this field, kept on the site without email delivery.

Period ending 2026-09-21

31 new papers

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

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

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

Inside this field

Focused directions

478 papers

Latest in Contact-Rich Manipulation

Browse all topics →
CardsList

  1. A Kinematic Analysis of Palm Degrees of Freedom for Enhancing Thumb Opposability in Robotic Hands

    Apr 24, 2026HyoJae Kang, Yeong Jae Park, Hyunmok Jung +2Dexterous Robot HandsFinger

  2. False Feasibility in Variable Impedance MPC for Legged Locomotion

    Apr 24, 2026Vishal RameshImpedance ControlModel Predictive Control

  3. Characterizing pitch and roll torque coupling in insect-sized flapping-wing robots using a microfabricated gimbal

    Apr 23, 2026Aaron Weber, Daksh Dhingra, Sawyer B. FullerActuatorRobot Systems

  4. Dynamic Coupling and Indirect Control of Jointed Robots Rolling Atop A Moving Platform

    Apr 23, 2026Hamidreza Moradi, Scott David KellyAdaptive LocomotionRobotic Arms

  5. Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters

    Apr 23, 2026Meg Wilkinson, Gilbert Bahati, Ryan M. Bena +3Control Barrier FunctionsSafety Filters

  6. A Kinematic Framework for Screening Candidate Pinch Configurations in Robotic Hand Design without Object or Contact Models

    Apr 22, 2026HyoJae Kang, Joonho Lee, Hyunmok Jung +1GraspsKinematics

  7. Kinematic Optimization of Phalanx Length Ratios in Robotic Hands Using Potential Dexterity

    Apr 22, 2026HyoJae Kang, Joonho Lee, Jeongdo Ahn +1Dexterous Robot HandsDexterous Manipulation

  8. Passive Variable Impedance For Shared Control

    Apr 22, 2026Maximilian Mühlbauer, Nepomuk Werner, Ribin Balachandran +4Impedance ControlAdaptive Controller

  9. ETac: A Lightweight and Efficient Tactile Simulation Framework for Learning Dexterous Manipulation

    Apr 22, 2026Zhe Xu, Feiyu Zhao, Xiyan Huang +1Robotic Manipulation PoliciesDexterous Manipulation

  10. An Efficient Multilevel Preconditioned Nonlinear Conjugate Gradient Method for Incremental Potential Contact

    Apr 21, 2026Yu Zhang, Xing Shen, Kemeng Huang +5Spectral PreconditioningNewton

  11. Wrench-Aware Admittance Control for Unknown-Payload Manipulation

    Apr 21, 2026Hossein Gholampour, Logan E. BeaverActuatorGeneralizable Robotic Manipulations

  12. Forward Dynamics of Variable Topology Mechanisms - The Case of Constraint Activation

    Apr 21, 2026Andreas MuellerKinematic ChainRobotic Arms

  13. KD-Judge: A Knowledge-Driven Automated Judge Framework for Functional Fitness Movements on Edge Devices

    Apr 21, 2026Shaibal Saha, Fan Li, Yunge Li +3Raw Judge OutputsPose-Guided Kinematic Reasoning

  14. ViPS: Video-informed Pose Spaces for Auto-Rigged Meshes

    Apr 19, 2026Honglin Chen, Karran Pandey, Rundi Wu +6Meshes3D Priors

  15. Novel Algorithms for Smoothly Differentiable and Efficiently Vectorizable Contact Manifold Construction

    Apr 19, 2026Onur Beker, Andreas René Geist, Anselm Paulus +1Contact ForcesCollision Prediction

  16. Neural Network-Based Adaptive Event-Triggered Control for Dual-Arm Unmanned Aerial Manipulator Systems

    Apr 18, 2026Yang Wang, Hai Yu, Wei He +3Adaptive ControllerRobotic Arms

  17. Autonomous Vehicle Collision Avoidance With Racing Parameterized Deep Reinforcement Learning

    Apr 17, 2026Shathushan Sivashangaran, Vihaan Dutta, Apoorva Khairnar +2Collision AvoidanceAutonomous Driving

  18. Amortized Inverse Kinematics via Graph Attention for Real-Time Human Avatar Animation

    Apr 17, 2026Muhammad Saif Ullah Khan, Chen-Yu Wang, Tim Prokosch +3Inverse KinematicsWorld Models

  19. DTEA: A Dual-Topology Elastic Actuator Enabling Real-Time Switching Between Series and Parallel Compliance

    Apr 17, 2026Vishal Ramesh, Aman Singh, Shishir KolathayaSoft Pneumatic ActuatorsActuator

  20. Factor Graph-Based Shape Estimation for Continuum Robots via Magnus Expansion

    Apr 17, 2026Lorenzo Ticozzi, Patricio A. Vela, Panagiotis TsiotrasSoft RobotsStatistical Shape Model

  21. Iterated Invariant EKF for Quadruped Robot Odometry

    Apr 16, 2026Hilton Marques Souza Santana, João Carlos Virgolino Soares, Sven Goffin +4Extended Kalman FilterLegged Robots

  22. A Co-Design Framework for High-Performance Jumping of a Five-Bar Monoped with Actuator Optimization

    Apr 7, 2026Aastha Mishra, Aman Singh, Shishir KolathayaKinematic ChainCo-Design

  23. A Minimum-Energy Control Approach for Redundant Mobile Manipulators in Physical Human-Robot Interaction Applications

    Mar 26, 2026Davide Tebaldi, Niccolò Paradisi, Fabio Pini +1Robotic ArmsHuman-Robot Interaction

  24. MineRobot: An Actuator-Centered Kinematic Modeling and Solving Framework for Underground Mining Robots

    Mar 23, 2026Shengzhe Hou, Xinming Lu, Tianyu Zhang +2Inverse KinematicsKinematic Chain

  25. KGS-GCN: Kinematics-Driven Gaussian Splatting and Probabilistic Topology for Skeleton-Based Action Recognition

    Mar 16, 2026Yuhan Chen, Yicui Shi, Guofa Li +4Skeleton-Based Action RecognitionPose-Guided Kinematic Reasoning

  26. Tactile Modality Fusion for Vision-Language-Action Models

    Mar 15, 2026Charlotte Morissette, Amin Abyaneh, Wei-Di Chang +5Tactile World ModelVision-Language-Action Models

  27. CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance

    Mar 12, 2026Leo Lin, Shivansh Patel, Jay Moon +2Dexterous Robot HandsHand

  28. NanoBench: A Multi-Task Benchmark Dataset for Nano-Quadrotor System Identification, Control, and State Estimation

    Mar 10, 2026Syed Izzat Ullah, Jose BacaQuadrotor FlightQuadrotor Control

  29. Drag-Aware Aerodynamic Manipulability for Torque-Limited Redundant Multirotors: Aerodynamic Promptness based on the Symmetric Acceleration Capacity

    Mar 9, 2026Antonio FranchiActuatorAerodynamics

  30. VertiAdaptor: Online Kinodynamics Adaptation for Vertically Challenging Terrain

    Mar 6, 2026Tong Xu, Chenhui Pan, Aniket Datar +1TerrainVehicle Dynamics

  31. Safe Consensus of Cooperative Manipulation with Hierarchical Event-Triggered Control Barrier Functions

    Mar 6, 2026Simiao Zhuang, Bingkun Huang, Zewen YangControl Barrier FunctionsRobust Formation Control

  32. Parallel Reference-Centric Continuous-Time Relative Localization with Augmented Clamped Non-Uniform B-Splines

    Feb 25, 2026Jiadong Lu, Zhehan Li, Tao Han +4Simultaneous Localization And MappingB-Spline

  33. MarUco: A Markerless 6D Pose Estimation Framework for Closed-Loop Control of Surgical Continuum Manipulators

    Feb 18, 2026Junhyun Park, Chunggil An, Myeongbo Park +3Visual ServoingCategory-Level Object Pose Estimation

  34. Mind the Gap: Rethinking I/O Design for Contact-Rich Visuomotor Policy Learning

    Feb 9, 2026Cuijie Xu, Shurui Zheng, Zihao Su +7Contact-Rich ManipulationImitation Learning

  35. Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems

    Feb 3, 2026Daniele Caradonna, Nikhil Nair, Anup Teejo Mathew +5Soft RobotsRigid-Body Dynamics

  36. PokeNet: Learning Kinematic Models of Articulated Objects from Human Observations

    Feb 2, 2026Anmol Gupta, Weiwei Gu, Omkar Patil +2Pose-Guided Kinematic ReasoningArticulated Objects

  37. Tilt-Ropter: A Fully Actuated Hybrid Aerial-Terrestrial Vehicle with Tilt Rotors and Passive Wheels

    Feb 2, 2026Ruoyu Wang, Xuchen Liu, Zongzhou Wu +3ActuatorAdaptive Locomotion

  38. Cross-Modal Visuo-Tactile Representation Learning with Action Chunking Transformers for Contact-Rich Manipulation

    Jan 31, 2026Yaohua Liu, Rong Fu, Amir H. Gandomi +2Contact-Rich ManipulationGripper

  39. Where to Touch, How to Contact: A Hierarchical RL-MPC Framework for Geometry-Aware Sim-to-Real Manipulation

    Jan 16, 2026Zhixian Xie, Yu Xiang, Michael Posa +1Generalizable Robotic ManipulationsContact-Rich Manipulation

  40. MonoMSK: Monocular 3D Musculoskeletal Dynamics Estimation

    Nov 24, 2025Farnoosh Koleini, Hongfei Xue, Ahmed Helmy +1BiomechanicsInverse Kinematics

  41. Rapidly Learning Soft Robot Control via Implicit Time-Stepping

    Nov 10, 2025Andrew Choi, Dezhong Tong, Xiaonan HuangSoft RobotsRobotic Arms

  42. Thor: Towards Human-Inspired Whole-Body Reactions for Intense Contact-Rich Environments

    Oct 30, 2025Gangyang Li, Hongzhe Shi, Qing Shi +5Task-Centric Hybrid Whole-Body ControllerGround Reaction Forces

  43. HJCD-IK: GPU-Accelerated Inverse Kinematics through Batched Hybrid Jacobian Coordinate Descent

    Oct 8, 2025Cael Yasutake, Andrew H. Liu, Zachary Kingston +1Inverse KinematicsNeural Solvers

  44. RTFF: Random-to-Target Fabric Flattening Policy using Dual-Arm Manipulator

    Oct 1, 2025Kai Tang, Dipankar Bhattacharya, Hang Xu +3FabricRobotic Arms

  45. Learning Contact Dynamics through Touching: Action-conditional Graph Neural Networks for Robotic Peg Insertion

    Sep 15, 2025Zongyao Yi, Joachim Hertzberg, Martin AtzmuellerContact ForcesContact-Rich Manipulation

  46. Multi-Class Human/Object Detection on Robot Manipulators using Proprioceptive Sensing

    Aug 4, 2025Justin Hehli, Marco Heiniger, Maryam Rezayati +1Human-Robot CollaborationTraining-Free Hand-Object Interaction Detection

  47. Robust Immersive Bilateral Teleoperation of Beyond-Human-Scale Systems with Enhanced Transparency and Sense of Embodiment

    May 20, 2025Mahdi Hejrati, Pauli Mustalahti, Jouni MattilaTeleoperationRobotic Arms

  48. CONTHER: Context-Aware Reinforcement Learning for Robotic Manipulation with Sparse Rewards

    Mar 20, 2025Maria Makarova, Qian Liu, Dzmitry TsetserukouGoal-Conditioned Reinforcement LearningRobotic Arms

  49. Real-Time Safety Evaluation of Human Arm Operations Using a Wrist-Mounted IMU with PSM System

    Feb 13, 2025Musab Zubair Inamdar, Alhusain Al Hadrami, Seyed Amir TafrishiHuman-Robot CollaborationRobotic Arms

  50. Koopman-driven grip force prediction through EMG sensing

    Sep 25, 2024Tomislav Bazina, Ervin Kamenar, Maria Fonoberova +1Surface ElectromyographyGround Reaction Forces

  51. An Overview of Formulae for the Higher-Order Kinematics of Lower-Pair Chains with Applications in Robotics and Mechanism Theory

    Sep 10, 2023Andreas MuellerKinematicsLie Group

  52. A Dynamic Toolkit for Transmission Characteristics of Precision Reducers with Explicit Contact Geometry

    Date pendingJiacheng Miao, Chao Liu, Qiliang Wang +2Contact ForcesPrecision

  53. DNA: Differentially private Neural Augmentation for contact tracing

    Date pendingRob Romijnders, Christos Louizos, Yuki M. Asano +1Covid-19Differential Privacy

  54. Multi-Robot Scanner for Automated Full-Body Dermoscopic Imaging

    Date pendingValerio Franchi, Rafael Garcia, Nuno Gracias +7Skin Lesion ClassificationMicroscopy

  55. Protect Your Score: Contact Tracing With Differential Privacy Guarantees

    Date pendingRob Romijnders, Christos Louizos, Yuki M. Asano +1Covid-19Differential Privacy

  56. FLOAT Drone: A Fully-actuated Coaxial Aerial Robot for Close-Proximity Operations

    Date pendingJunxiao Lin, Shuhang Ji, Yuze Wu +3Aerial RobotsDrone

  57. A Unified Conditional Flow for Motion Generation, Editing, and Intra-Structural Retargeting

    Date pendingJunlin Li, Xinhao Song, Siqi Wang +2Text-To-Motion GenerationMotion Retargeting

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

    Date pendingQinzhen Ma (Rice University)Tactile World ModelGround Reaction Forces