Manipulation via Force Distribution at Contact

• URL: http://arxiv.org/abs/2602.03350v1
• Date: Tue, 03 Feb 2026 10:22:36 GMT
• Title: Manipulation via Force Distribution at Contact
• Abstract summary: This study introduces a Force-Distributed Line Contact model in contact-rich manipulation.<n>A bi-level optimization framework is constructed, in which the lower-level solves an optimization problem for contact force computation.<n>The benefits of the FDLC in generating efficient and robust trajectories are established.
• Score: 2.3099144596725565
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on point contact models due to their computational effi- ciency. Simple contact models are computationally efficient but inherently limited for achieving human-like, contact-rich ma- nipulation, as they fail to capture key frictional dynamics and torque generation observed in human manipulation. This study introduces a Force-Distributed Line Contact (FDLC) model in contact-rich manipulation and compares it against conventional point contact models. A bi-level optimization framework is constructed, in which the lower-level solves an optimization problem for contact force computation, and the upper-level optimization applies iLQR for trajectory optimization. Through this framework, the limitations of point contact are demon- strated, and the benefits of the FDLC in generating efficient and robust trajectories are established. The effectiveness of the proposed approach is validated by a box rotating task, demonstrating that FDLC enables trajectories generated via non-uniform force distributions along the contact line, while requiring lower control effort and less motion of the robot.

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