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Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another.
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J. Mirabel and F. Lamiraux, “Manipulation planning: addressing the crossed foliation issue,” in
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2020
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A. Orthey, S. Akbar, and M. Toussaint, “Multilevel motion planning: A fiber bundle formulation,” 2020
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S. Samadi, S. Caron, A. Tanguy, and A. Kheddar, “Balance of humanoid robot in multi-contact and sliding scenarios,” in
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M. Toussaint, J.-S. Ha, and D. Driess, “Describing physics for physical reasoning: Force-based sequential manipulation planning,”
2020
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