用简化模型实现高效推、压滑平面操作，省去复杂计算。
Push, Press, Slide: Mode-Aware Planar Contact Manipulation via Reduced-Order Models
- 根据接触拓扑选简化模型，将复杂力学抽象为离散直观模型。
- 无需优化即可快速生成轨迹，支持单臂与双臂任务。
- 适合需高速精准操控的机器人场景，如装配与搬运。
非抓取式平面操作（如推移和压滑）在多种机器人任务中至关重要，但因混合接触力学、欠驱动特性和摩擦不对称性而极具挑战，传统方法依赖计算昂贵的迭代控制。本文提出一种基于接触拓扑选择与降阶运动学建模的模式感知框架，适用于单臂或双臂机器人。核心思想是将复杂的力-扭极限面力学抽象为一组离散且物理直观的模型库。我们系统地将各类单臂与双臂接触拓扑映射为简化的非完整形式，例如用自行车模型模拟压滑运动。通过锚定轨迹生成于这些降阶模型，框架可直接计算物体所需作用力，并利用代数分配器生成可行且受摩擦约束的接触力。结合机械臂运动学确保长时程可行性，在多种单臂与双臂操作任务的仿真中验证了该方法的高效性。补充视频与更多信息见：https://sites.google.com/view/pushpressslide
原文摘要 · Abstract (English)
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that traditionally necessitate computationally expensive iterative control. In this paper, we propose a mode-aware framework for planar manipulation with one or two robotic arms based on contact topology selection and reduced-order kinematic modeling. Our core insight is that complex wrench-twist limit surface mechanics can be abstracted into a discrete library of physically intuitive models. We systematically map various single-arm and bimanual contact topologies to simple non-holonomic formulations, e.g. unicycle for simplified press-and-slide motion. By anchoring trajectory generation to these reduced-order models, our framework computes the required object wrench and distributes feasible, friction-bounded contact forces via a direct algebraic allocator. We incorporate manipulator kinematics to ensure long-horizon feasibility and demonstrate our fast, optimization-free approach in simulation across diverse single-arm and bimanual manipulation tasks. Supplementary videos and additional information are available at: https://sites.google.com/view/pushpressslide
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。