Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs individually. In concert, it is well known that the interaction of such idealized approximations can lead to conflicting and even paradoxical results. As robotics modeling moves from the consideration of isolated behaviors to the analysis of tasks requiring their composition, a mathematically tractable framework for building models that combine these simple approximations yet achieve reliable results is overdue. In this paper we present a formal hybrid dynamical system model that introduces suitably restricted compositions of these familiar abstractions with the guarantee of consistency analogous to global existence and uniqueness in classical dynamical systems. The hybrid system developed here provides a discontinuous but self-consistent approximation to the continuous (though possibly very stiff and fast) dynamics of a physical robot undergoing intermittent impacts. The modeling choices sacrifice some quantitative numerical efficiencies while maintaining qualitatively correct and analytically tractable results with consistency guarantees promoting their use in formal reasoning about mechanism, feedback control, and behavior design in robots that make and break contact with their environment.
Coordinated Manipulation of Hybrid Deformable-Rigid Objects in Constrained Environments
Department of Mechanical and Nuclear Engineering, Khalifa University（卡利法大学机械与核工程系）；Khalifa University Center for Autonomous Robotic Systems (KUCARS)（卡利法大学自主机器人系统中心）；Department of Computer Science, Khalifa University（卡利法大学计算机科学系）
CATCH-FORM-ACTer: Compliance-Aware Tactile Control and Hybrid Deformation Regulation-Based Action Transformer for Viscoelastic Object Manipulation
School of Automation Science and Engineering, South China University of Technology（华南理工大学自动化科学与工程学院）；Institute for Super Robotics (Huangpu)（黄埔智能机器人研究院）
UAV-miniUGV Hybrid System for Hidden Area Exploration and Manipulation
Luddy School of Informatics, Computing, and Engineering at Indiana University（印第安纳大学卢迪信息、计算与工程学院）；University of Sheffield（谢菲尔德大学）；TCS Research（塔塔咨询服务研究部）
Cyborg Insect Factory: Automatic Assembly System to Build up Insect-computer Hybrid Robot Based on Vision-guided Robotic Arm Manipulation of Custom Bipolar Electrodes
Dynamic Resilient Spatio-Semantic Memory with Hybrid Localization for Mobile Manipulation
School of Mechanical Engineering and Automation, Beihang University（北京航空航天大学机械工程及自动化学院）；Department of Systems Engineering, City University of Hong Kong（香港城市大学系统工程系）；School of Computing, National University of Singapore（新加坡国立大学计算机学院）
Multi-mode Trajectory Optimization for Impact-aware Manipulation
School of Informatics, University of Edinburgh（爱丁堡大学信息学院）；Honda Research Institute Europe (HRI-EU)（本田欧洲研究所）；Shenzhen Institute for Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong (Shenzhen)（香港中文大学（深圳）深圳市人工智能与机器人研究院）
Hybrid Diffusion Policies with Projective Geometric Algebra for Efficient Robot Manipulation Learning
Department of Computer Science, Yale University（计算机科学系，耶鲁大学）；Department of Computer and Information Science, University of Pennsylvania（计算机与信息科学系，宾夕法尼亚大学）；Department of Electrical and Systems Engineering, University of Pennsylvania（电气与系统工程系，宾夕法尼亚大学）
ReTrace: Cross-Stage Failure Attribution for Self-Improving Robotic Manipulation
College of Computer Science and Artificial Intelligence, Fudan University（复旦大学计算机与人工智能学院）；Institute of Trustworthy Embodied AI, Fudan University（复旦大学可信具身人工智能研究院）；Singapore Management University（新加坡管理大学）
Task-Driven Hybrid Model Reduction for Dexterous Manipulation
School for Engineering of Matter, Transport, and Energy at Arizona State University（亚利桑那州立大学材料、运输与能源工程学院）；General Robotics, Automation, Sensing and Perception (GRASP) Laboratory, University of Pennsylvania（宾夕法尼亚大学通用机器人、自动化、感知与行动实验室）
College of Engineering and Physical Sciences, Aston University（工程与物理科学学院，阿斯顿大学）；Department of Computer Science Department, Loughborough University（计算机科学系，洛桑大学）
CATCH-FORM-3D: Compliance-Aware Tactile Control and Hybrid Deformation Regulation for 3D Viscoelastic Object Manipulation
School of Automation Science and Engineering, South China University of Technology（华南理工大学自动化科学与工程学院）；Institute for Super Robotics (Huangpu)（（黄埔）超级机器人研究所）
Designing and Validating a Self-Aligning Tool Changer for Modular Reconfigurable Manipulation Robots
Department of Systems Innovation, Graduate School of Engineering Science, The University of Osaka（大阪大学工学研究生院系统创新学科）；Industrial Cyber-physical Systems Research Center, The National Institute of Advanced Industrial Science and Technology (AIST)（国家先进工业科学与技术研究院工业协同物理系统研究中心）
Trajectory Optimization for Self-Wrap-Aware Cable-Towed Planar Object Manipulation under Implicit Tension Constraints
Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Germany（慕尼黑机器人与机器智能研究所，慕尼黑技术大学，德国）；Department of Mechanical Engineering, Stony Brook University（石溪大学机械工程系）
