Physics-Informed Eikonal Caging for Whole-Arm Manipulation Planning
Planning contact-rich whole-arm manipulation is challenging because interactions that involve extended robot geometry give rise to complex contact dynamics that are difficult to model accurately. This creates a need for planning principles that do not rely heavily on precise contact models. Caging offers one such geometric notion of robustness to modeling inaccuracy by restricting object escape through geometrically enclosing the object. However, existing caging formulations are difficult to incorporate into continuous optimization-based manipulation planning. We reformulate caging as a minimum-time escape problem in which the object seeks to leave an enclosing robot geometry in the short...
| Authors | Yan Zhang, Yiming Li, Yifei Dong et al. |
|---|---|
| Primary category | cs.RO |
| Published | 20 June 2026 |
| Last updated at source | 20 June 2026 |
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