AI 中文总结
该研究针对基于球的机器人接触模型物理准确性不足的问题，提出CSLC分布式接触模型，通过弹簧连接的柔顺球格实现空间接触区域建模，经验证可提升抓取稳定性。
AI 中文摘要
机器人接触规划需要兼具计算效率和物理准确性的模型。基于球的机器人表示可实现快速碰撞检测和可微几何，满足计算效率要求，但依赖点接触，无法捕捉接触区域面积、压力分布、旋转刚度或摩擦力矩，牺牲了物理准确性。我们提出柔顺球格接触（Compliant Sphere Lattice Contact，CSLC），这是一种分布式接触模型，原生适用于球表示，将机器人界面建模为表面球通过锚定弹簧和横向弹簧连接的柔顺格。当压在物体上时，该格会变形以产生空间分布的接触区域，提高基于球的接触的物理准确性。我们在两个独立求解器上验证了CSLC，初步结果显示其可形成接触区域并提升抓取稳定性。
英文摘要
Contact planning in robotics requires models that are both computationally efficient and physically accurate. Sphere-based robot representations satisfy the first requirement by enabling fast collision checking and differentiable geometry, but sacrifice physical accuracy by relying on point contact which cannot capture contact patch area, pressure distributions, rotational stiffness, or frictional moments. We introduce Compliant Sphere Lattice Contact (CSLC), a distributed contact model that operates natively on sphere representations by modeling the robot interface as a compliant lattice of surface spheres connected through anchor and lateral springs. When pressed against an object, the lattice deforms to produce a spatially distributed contact patch that improves the physical accuracy of sphere-based contact. We validate CSLC across two independent solvers and show preliminary results demonstrating contact patch formation and improved grasp stability.
Journal refICRA 2026 Workshop on Contact-Rich Control and Representation
