Loading [MathJax]/extensions/MathMenu.js
ContactSDF: Signed Distance Functions as Multi-Contact Models for Dexterous Manipulation | IEEE Journals & Magazine | IEEE Xplore

ContactSDF: Signed Distance Functions as Multi-Contact Models for Dexterous Manipulation


Abstract:

In this letter, we propose ContactSDF, a method that uses signed distance functions (SDFs) to approximate multi-contact models, including both collision detection and tim...Show More

Abstract:

In this letter, we propose ContactSDF, a method that uses signed distance functions (SDFs) to approximate multi-contact models, including both collision detection and time-stepping routines. ContactSDF first establishes an SDF using the supporting plane representation of an object for collision detection, and then uses the generated contact dual cones to build a second SDF for time-stepping prediction of the next state. Those two SDFs create a differentiable and closed-form multi-contact dynamic model for state prediction, enabling efficient model learning and optimization for contact-rich manipulation. We perform extensive simulation experiments to show the effectiveness of ContactSDF for model learning and real-time control of dexterous manipulation. We further evaluate the ContactSDF on a hardware Allegro hand for on-palm reorientation tasks. Results show with around 2 minutes of learning on hardware, ContactSDF achieves high-quality dexterous manipulation at a frequency of 30–60 Hz.
Published in: IEEE Robotics and Automation Letters ( Volume: 10, Issue: 5, May 2025)
Page(s): 4212 - 4219
Date of Publication: 05 March 2025

ISSN Information:

Funding Agency:


Contact IEEE to Subscribe

References

References is not available for this document.