Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most existing algorithms concentrate on the control and learning aspect of sliding contacts, but do not embed the problem into a principled framework to provide guarantees on completeness or optimality. To address this problem, we propose a method to extend constraint-based planning using contact transitions for sliding contacts. Such transitions are elementary operations required for whole contact sequences. To model sliding contacts, we define a sliding contact constraint that permits the robot to slide on the surface of a mesh-based object. To exploit transitions between sliding contacts, we develop a contact transition sampler, which uses three constraint modes: contact with a start surface, no contact and contact with a goal surface. We sample these transition modes uniformly which makes them usable with sampling-based planning algorithms. Our method is evaluated by testing it on manipulator arms of two, three and seven internal degrees of freedom with different objects and various sampling-based planning algorithms. This demonstrates that sliding contact constraints could be used as an elementary method for planning long-horizon contact sequences for high-dimensional robotic systems.
Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts
Laboratory of Informatics, Robotics and Microelectronics (LIRMM), CNRS-University of Montpellier（信息学、机器人学与微电子实验室（LIRMM），法国国家科学研究中心-蒙彼利埃大学）；CNRS-AIST Joint Robotics Laboratory (JRL)（法国国家科学研究中心-日本产业技术综合研究所联合机器人实验室（JRL））；ANYbotics AG（ANYbotics公司）；CNRS（法国国家科学研究中心）
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
The University of Edinburgh（爱丁堡大学）；Ewha Womans University（梨花女子大学）；LAAS-CNRS（法国国家科学研究中心分析与系统结构实验室）；Université de Toulouse（图卢兹大学）；University of Trento（特伦托大学）
Combining Sampling- and Gradient-based Planning for Contact-rich Manipulation
Politecnico di Milano（米兰理工大学）；Istituto Dalle Molle di Studi sull’Intelligenza Artificiale (IDSIA)（达勒·莫勒人工智能研究所）；Scuola Universitaria Professionale della Svizzera Italiana (SUPSI)（瑞士意大利语区应用科学大学）；Università della Svizzera Italiana (USI)（瑞士意大利语区大学）；Fraunhofer IPK（弗劳恩霍夫制造工程和自动化研究所）
A Unified Framework for Multi-Contact Path Planning in the Rolling Robot Systems
Geometric Mechanics and Mechatronics in Robotics (gm 2 R) Lab, School of Engineering, Cardiff University（机器人几何力学与机电学实验室，工程学院，卡迪夫大学）；Information Science and Engineering Department, Ritsumeikan University（信息科学与工程系，立命馆大学）
Contact-Aware Motion Planning Among Movable Objects
Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology（香港科技大学郑家纯机器人研究所）；Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University（浙江大学控制科学与工程学院系统控制研究所）；Huzhou Institute, Zhejiang University（浙江大学湖州研究院）
Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
Department of Advanced Robotics, Istituto Italiano di Tecnologia（意大利技术研究院先进机器人部）；Robot Learning and Interaction Group, Idiap Research Institute（伊迪普研究所机器人学习与交互小组）
Department of Electrical Engineering, Chalmers University of Technology, SE-41296 Gothenburg, Sweden（电气工程系，楚尔姆斯理工大学，瑞典哥德堡）；Department of Automatic Control, Lund University, SE-22100 Lund, Sweden（自动控制系，吕勒奥大学，瑞典卢德）
Unified Complementarity-Based Contact Modeling and Planning for Soft Robots
Woodruff School of Mechanical Engineering and the Institute for Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology（伍德鲁夫机械工程学院和机器人与智能机器研究所（IRIM）、佐治亚理工学院）；Coulter Department of Biomedical Engineering (Georgia Tech and Emory University) and the Institute for Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology（库勒生物医学工程系（佐治亚理工学院和埃默里大学）和机器人与智能机器研究所（IRIM）、佐治亚理工学院）
Contact Modes Are Strata: What Geometric Structure Buys in Discrete-Continuous Planning
University of Toronto Institute for Aerospace Studies (UTIAS)（多伦多大学航空航天研究所）；Space and Terrestrial Autonomous Robotic Systems (STARS) Laboratory（空间与地面自主机器人系统实验室）
Geometry of contact: contact planning for multi-legged robots via spin models duality
Georgia Institute of Technology（佐治亚理工学院）；NSF AI Institute for Artificial Intelligence and Fundamental Interactions（美国国家科学基金会人工智能与基本相互作用人工智能研究所）；Massachusetts Institute of Technology（麻省理工学院）；Harvard University（哈佛大学）
Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments
Department of Mechanical and Aerospace Engineering, University of California San Diego（加州大学圣地亚哥分校机械与航空航天工程系）；SceniX Inc（SceniX公司）；Department of Electrical and Computer Engineering, University of California San Diego（加州大学圣地亚哥分校电气与计算机工程系）；Department of Surgery, University of California San Diego（加州大学圣地亚哥分校外科系）
