发表机构
University of Toronto Institute for Aerospace Studies (UTIAS); Space and Terrestrial Autonomous Robotic Systems (STARS) Laboratory（多伦多大学航空航天研究所; 空间与地面自主机器人系统实验室）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出将接触模式视为构型空间的层，以此构建离散-连续规划方法，在两项仿真接触操纵任务中实现了无需预定义接触序列的快速规划。
AI 中文摘要
接触丰富的操纵同时提出了离散与连续两类问题，即哪些接触是主动的，以及在保持接触的情况下如何运动。这两类问题因维度变化而耦合，机器人维持的每个接触都会将其运动限制在低维流形上。我们将这种耦合明确作为规划的对象，指出接触模式不仅与构型空间的层类似，它本身就是构型空间的一个层。此时规划就是在层上的游走，层内的段为测地线。在两项仿真的接触丰富操纵任务（推动T形块绕过障碍物、灵巧手重新定向立方体）中，我们的规划器无需预先给定模式、接触序列或层，即可在数秒内返回解决方案。
英文摘要
Contact-rich manipulation poses a discrete question and a continuous one at once, namely which contacts are active and how to move while they hold. The two are coupled by a change of dimension, since each contact that a robot maintains confines its motion to a lower-dimensional manifold. We make that coupling the explicit object of planning by observing that a contact mode is not merely analogous to a stratum of the configuration space; it is one. A plan is then a walk over strata whose within-stratum segments are geodesics. On two contact-rich manipulation tasks in simulation, pushing a T-shaped block around obstacles and reorienting a cube in a dexterous hand, our planner returns solutions within seconds with no mode, contact sequence, or stratum given in advance.
CommentsSpotlight paper at the IROS 2026 Workshop on Geometric-Aware Representations in Robotics, Pittsburgh, USA, October 1, 2026
