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This paper introduces Compliant Sphere Lattice Contact (CSLC), a novel distributed contact model designed specifically to enhance the physical accuracy of sphere-based robot representations without sacrificing computational efficiency. By modeling the robot interface as a deformable lattice, CSLC captures critical dynamics like pressure distributions and rotational stiffness that traditional point-contact methods miss, directly advancing differentiable geometry in robotics control systems.
Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations
arXiv:2608.00263v1 Announce Type: new Abstract: 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.
Abstract: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.
Robotics (cs.RO)
arXiv:2608.00263 [cs.RO]
(or arXiv:2608.00263v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2608.00263 Focus to learn more arXiv-issued DOI via DataCite
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Full text under the publisher's open licence · 219 words
