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

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Period ending 2026-09-07

8 new papers

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  1. 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

  2. Biomechanical 3D Body: Self-Supervised Distillation of Biomechanical Pose from a 3D Body Foundation Model

    Aug 30, 2026R. James Cotton, J. D. Peiffer, Lucinda Williamson +2Parametric Body ModelsBiomechanics

  3. Generative Action-Chunk Sampling for Adaptive Stiffness Control in Physical Human-Robot Collaboration

    Aug 26, 2026Aoi Otake, Ferdinand Hartmann, Ko Igari +1Human-Robot CollaborationActuator

  4. ORPA: Online Residual Policy Adaptation for Robot Manipulation Control with Human Feedback

    Aug 18, 2026Muhammad A. Muttaqien, Tomohiro Motoda, Ryo Hanai +1Robotic Manipulation PoliciesImitation Learning

  5. Capstan-driven Continuum Surgical Robot: Design, Modeling, and Perception

    Aug 13, 2026Gang Zhang, Yufu Qiu, Junyan Yan +3Soft RobotsGround Reaction Forces

  6. FAM-DQ: A Dual-Quadrotor-Based Fully Actuated Aerial Manipulator for High-Torque Interaction

    Aug 13, 2026Xuwei Yang, Ruoyu Ren, Ziqian GuoAerial ManipulationActuator

  7. EgoPHI: Estimating 3D Hand-Object Contact and Force from Egocentric Vision

    Aug 13, 2026Andela Ilic, Rachel Schuchert, Yijing Jiang +1Training-Free Hand-Object Interaction DetectionEgocentric Vision

  8. ContactIPM: A Structure-Exploiting Interior-Point Solver for Contact-Implicit Trajectory Optimization

    Aug 12, 2026Yucheng ChenPrimal-Dual MethodsTrajectory Optimization

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

    Aug 11, 2026Anna Tuma, Giuseppe Monetti, Jochen J. Steil +1Dexterous Robot HandsGround Reaction Forces

  10. Hip Energized Monopedal Hopping

    Aug 11, 2026Shane Rozen-Levy, Griffon McMahon, Daniel KoditschekAdaptive LocomotionActuator

  11. Efficient Human-Contact Representation for Human-Scene Interaction

    Aug 10, 2026Nghia Vu, Tuong Do, Binh X. Nguyen +2Articulated ObjectsContact-Rich Manipulation

  12. CADEngBench: It Looks Like CAD, but Does It Work? Evaluating Parametric Design, Assembly Reasoning, and Physics Simulation

    Aug 10, 2026Harmanjot Singh, Abhra Dubey, Jorge Alejandro Amador HerreraText-To-CadComputer-Aided Design

  13. Ultra-Low-Impedance Robotic Gripper for High-Bandwidth and Transparent Physical Interaction

    Aug 10, 2026Joon Lee, Ari Choi, Seokhwan JeongGripperGround Reaction Forces

  14. UniMoFlow: Grounding Instruction-Driven 3D Human Motion Editing in Generation

    Aug 10, 2026Yilei Hua, Beibei Jing, Ce Zheng +3Text-To-Motion Generation3D Generative Models

  15. Learning human joint torques from pixels

    Aug 10, 2026Chen Chen, Rui ChengBiomechanicsActuator

  16. Estimation of Spacecraft Inertia Tensor Using Attitude-Only Data from Torque-Free Motion

    Aug 9, 2026Daigo Kobayashi, Vakhtang PutkaradzeInertialExtended Kalman Filter

  17. PEEL: Parallel Extraction for Long-Horizon Disassembly Planning via Scale-Invariant Sampling

    Aug 9, 2026Servet B. Bayraktar, Andreas Orthey, Zachary Kingston +1Long-Horizon PlanningCollision-Free Trajectories

  18. Multi-modal Interactive Control of Robotic Arm based on Offline Large Language Models

    Aug 8, 2026Hanxiao ChenLarge LanguageRobotic Arms

  19. SurgWMBench: A Vision-Based Benchmark for World-Modeling Surgical Instrument Motion Planning

    Aug 8, 2026Huanrong Liu, Weiliang Huang, Bob Zhang +3Surgical VideosGradient Surgery

  20. Learning Fault-Tolerant Locomotion with Adaptive Gait Timing

    Aug 7, 2026Giovanbattista Gravina, Luca Rossini, Carlo Rizzardo +2Adaptive LocomotionLegged Robots

  21. Identifying the Key Biomechanical Features of Movement Adaptation during Exoskeleton-Assisted Locomotion

    Aug 7, 2026Peter Seungjune Lee, Katja MombaurExoskeletonBiomechanics

  22. C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video

    Aug 7, 2026Jie Ren, Zhehao Jiang, Yinhong Yang +9Dexterous ManipulationGeneralizable Robotic Manipulations

  23. A Haptic Robot Finger Designed for Guqin Instrument Playing

    Aug 7, 2026Tianwei Zhang, Hanming Yan, Yang Yang. Ziya WangDexterous Robot HandsInstrument

  24. Exact Thrust-Reversal Limits of Bidirectional Propellers under Bounded Motor Inputs

    Aug 7, 2026Ahmed Ali, Chiara Gabellieri, Antonio FranchiActuatorExact

  25. SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models

    Aug 6, 2026Maximilian Stölzle, Solange Gribonval, Daniel Feliu-Talegon +9Soft RobotsActuator

  26. A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units

    Aug 6, 2026Haonan Peng, Dun-Tin Chiang, Jordan Hendricks +5Robot-Assisted Minimally Invasive SurgeryGround Reaction Forces

  27. A Master-Slave Robot Manipulator for Needle-Based Teleoperation in MRI Chamber

    Aug 6, 2026Omar Curiel, Jing-Yuan Huang, Po-Chih Chen +6Robotic ArmsTeleoperation

  28. Design and Evaluation of a Touchscreen-Based Teleoperation Interface for Robotic Manipulators

    Aug 6, 2026Juan José García Cárdenas, Alperen Kenan, Hamidreza Raei +4TeleoperationRobotic Arms

  29. VIDP: Variable Impedance Diffusion Policy for Compliant Robot Manipulation from Diverse Demonstrations

    Aug 6, 2026Hisham Khalil, Neil Fernandes, Thomas M. Kwok +2Impedance ControlGeneralizable Robotic Manipulations

  30. ErgoSurf: Ergodic Control for the Coverage of Unknown Surfaces

    Aug 6, 2026Stefan Schneyer, Timo Bachmann, Maged Iskandar +4High-Fidelity Surface ReconstructionContact-Rich Manipulation

  31. TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions

    Aug 6, 2026Taehyeon Kong, Woojin Kim, Jemin HwangboProprioceptionOdometry

  32. ATP: Anatomical Torque with Passivity-based Control Framework for Safe Upper-Limb Exoskeleton Assistance

    Aug 6, 2026Yu Chen, Gong Chen, Xiang LiExoskeletonActuator

  33. Reconfigurable Structural Robotic Assembly: Interlocking 3D Aggregations with Self-Aligning Compound Nested Lattice Modules

    Aug 4, 2026Alexander Htet Kyaw, Miana Smith, Paul Richard +1ReconfigurableRobotic Arms

  34. Teaching Foundation Models to Read mmWave: Pose-Guided Kinematic Representation for Human Behavior Understanding

    Aug 4, 2026Duo Zhang, Zhehui Yin, Zhiyun Yao +8Millimeter WaveHuman Activity Recognition

  35. Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators

    Aug 4, 2026Seulchan Lee, Leesai Park, Minhyeong Kang +1Model Predictive Path IntegralRobotic Arms

  36. PLS-Calib: A Partial Least Squares Framework for Event Camera and Odometry Calibration under Ground Motion Constraints

    Aug 4, 2026Guangyu Li, Xiao Li, Yujie Wu +5Camera IntrinsicsOdometry

  37. Accelerating Human-Aware Robot Trajectory Generation via Diffusion and Consistency Distillation

    Aug 4, 2026Byeong-Il Ham, Hyun-Bin Kim, Kyung-Soo KimRobot TrajectoriesHuman-Robot Interaction

  38. Surface Keypoint Representation for Multi-Object and Articulated Human-Object Interaction Generation

    Aug 4, 2026Xiaogang Peng, Zeyu Han, Zichong Meng +4Articulated ObjectsHuman Motion

  39. Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting

    Aug 4, 2026Sergio A. Esteban, Jason H. K. Siu, Derrick Mach +4Motion RetargetingMotion Imitation

  40. Deep Learning-Based Estimation of Ground Reaction Forces in Parkinsonian Gait Using an Optimized Set of IMU Data

    Aug 3, 2026Run Lin, Yingtian Tang, Jiawen Xu +6Single-Subject Gait DatasetParkinson

  41. A Tilt-Rotor UAV with a Gripper for Stable Contact-Based Tasks via Environmental Anchoring

    Aug 3, 2026Joshua Taylor, Nursultan Imanberdiyev, Wei-Yun Yau +2Aerial RobotsUncrewed Aerial Vehicles

  42. TWINS: A Tactile Wearable Isomorphic Arm Networked System for Contact-Rich Manipulation Learning

    Aug 3, 2026Takahide Kitamura, Masaki Murooka, Natsuki Yamanobe +1Tactile PerceptionContact-Rich Manipulation

  43. Demystifying When and Why VLAs Fail in Contact-Rich Tasks and How to Fix Them

    Aug 2, 2026Carlota Parés-Morlans, Nils Kuhn, Isabel Liu +2Vision-Language-Action ModelsReal-World Manipulation Tasks

  44. Complete Motion Planning using Workspace-Fibered Decomposition for nR-Planar Manipulator

    Aug 2, 2026Aayush Rath, Antony ThomasMotion PlannersRobotic Arms

  45. CAAT: Contact-Aware Attention Scaling and Tactile Masking for Data-Efficient Contact-Rich Manipulation

    Aug 2, 2026Jiaming Jiang, Yuzhe Huang, Hao Liang +7Tactile PerceptionContact-Rich Manipulation

  46. Extended KAFR: A kinematic-adaptive paradigm for the efficient analysis of surgical video

    Aug 2, 2026Huu Phong Nguyen, Shekhar Madhav Khairnar, Ganesh SankaranarayananSurgical VideosMotion Estimation

  47. Diffusion-Based Body Schema Learning Enabling Abnormal-State Adaptation in Musculoskeletal Robots

    Aug 2, 2026Kento Kawaharazuka, Shuhei IkemotoScalable Robot LearningMuscle Anatomy

  48. KING: Embodiment-Aware Kinematic Graph Neural Network for Unified Motion Representation of Legged and Wheeled Robots

    Aug 2, 2026Taku Okawara, Aoki Takanose, Kenji Koide +2Pose-Guided Kinematic ReasoningKinematics

  49. Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality

    Aug 1, 2026Clinton Enwerem, John S. Baras, Calin BeltaGrasp GenerationCollision-Free Trajectories

  50. Learning to Predict Contact Force Distributions from Vision Leveraging Object Geometry Priors

    Aug 1, 2026Ryo Hanai, Yukiyasu Domaea, Ixchel G. Ramirez-Alpizar +3Contact ForcesGeneralizable Robotic Manipulations

  51. A Robotic System for Automated Manufacturing of Dielectric Elastomer Actuators

    Aug 1, 2026Van Remenar, Anatol Gogoj, Ang Li +4Soft Pneumatic ActuatorsIndustrial Automation

  52. Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations

    Jul 31, 2026Nataliya Nechyporenko, Ava Abderezaei, Alessandro RonconeContact ForcesContact-Rich Manipulation

  53. Tri-Space Operational Control of Redundant Multilink and Hybrid Cable-Driven Parallel Robots Using an Iterative-Learning based Reactive Approach

    Jul 31, 2026Dipankar Bhattacharya, Yin Pok Chan, Siqi Shang +3Robotic ArmsReactive

  54. TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation

    Jul 31, 2026Jiahao Liu, Kento Kawaharazuka, Tasuku Makabe +1Action ChunksContact-Rich Manipulation

  55. Generalizing deep reinforcement learning across cable-driven parallel robot configurations with actuator-level policies

    Jul 31, 2026Abir Bouaouda, Mohamed Boutayeb, François Charpillet +2Iterative Reinforcement LearningDeep Reinforcement Learning

  56. DART: Dual-Axis Airborne Reachability-Gated Torque-Reaction for Off-Road Vehicle Jumps

    Jul 31, 2026Yu Hu, Fangzhou Zhao, Mingyuan Sang +7Flight PerformanceActuator

  57. FA-RDP: A Frequency-Adaptive Reactive Diffusion Policy for Contact-Rich Manipulation

    Jul 30, 2026Lifeng Zhuo, Wendi Chen, Han Xue +4Diffusion PoliciesRobotic Manipulation Policies

  58. TacWAM: Anchor-Guided World Action Model with Mechanics-Aware Tactile Prediction

    Jul 30, 2026Lei Jin, Yiding Ma, Xin Zhang +3Tactile World ModelReal-World Manipulation Tasks

  59. ViP-Rig: Visual-Prompted Controllable Rigging

    Jul 30, 2026Zihan Qin, Mingze Sun, Yifan Mao +6SkeletonPose-Guided Kinematic Reasoning

  60. Convex Collision-Free Regions

    Jul 29, 2026Tomoyo Kikuchi, Takashi KanaiCollision PredictionDeformable Objects