{"id":"https://openalex.org/W4415524419","doi":"https://doi.org/10.1109/humanoids65713.2025.11203073","title":"Geodesic Tracing-Based Kinematic Integration of Rolling and Sliding Contact on Manifold Meshes for Dexterous in-Hand Manipulation","display_name":"Geodesic Tracing-Based Kinematic Integration of Rolling and Sliding Contact on Manifold Meshes for Dexterous in-Hand Manipulation","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524419","doi":"https://doi.org/10.1109/humanoids65713.2025.11203073"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Sunyu Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sunyu Wang","raw_affiliation_strings":["Robotics Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091501703","display_name":"Arjun S. Lakshmipathy","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arjun S. Lakshmipathy","raw_affiliation_strings":["Carnegie Mellon University,Computer Science Department,Pittsburgh,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Computer Science Department,Pittsburgh,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019807694","display_name":"Jean Oh","orcid":"https://orcid.org/0000-0001-9709-2658"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean Oh","raw_affiliation_strings":["Robotics Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011046225","display_name":"Nancy S. Pollard","orcid":"https://orcid.org/0000-0001-6464-839X"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nancy S. Pollard","raw_affiliation_strings":["Robotics Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33875465,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9714000225067139,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9708999991416931,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/geodesic","display_name":"Geodesic","score":0.6585000157356262},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6227999925613403},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6197999715805054},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6032000184059143},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.5910000205039978},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.37369999289512634},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.36410000920295715},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.35190001130104065}],"concepts":[{"id":"https://openalex.org/C165818556","wikidata":"https://www.wikidata.org/wiki/Q213488","display_name":"Geodesic","level":2,"score":0.6585000157356262},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6227999925613403},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6197999715805054},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6032000184059143},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.5910000205039978},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5095000267028809},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.37369999289512634},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.36410000920295715},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.35190001130104065},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.350600004196167},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.34940001368522644},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3370000123977661},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.3361000120639801},{"id":"https://openalex.org/C138673069","wikidata":"https://www.wikidata.org/wiki/Q322229","display_name":"Tracing","level":2,"score":0.328000009059906},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.3248000144958496},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.32330000400543213},{"id":"https://openalex.org/C74544821","wikidata":"https://www.wikidata.org/wiki/Q1783105","display_name":"Contact geometry","level":2,"score":0.30219998955726624},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3019999861717224},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.29760000109672546},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.29089999198913574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.289900004863739},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26460000872612},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2639000117778778},{"id":"https://openalex.org/C192939610","wikidata":"https://www.wikidata.org/wiki/Q188444","display_name":"Differential geometry","level":2,"score":0.257999986410141},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2547999918460846},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25459998846054077},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2540999948978424}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1986744781","https://openalex.org/W1996630649","https://openalex.org/W2017444601","https://openalex.org/W2019165997","https://openalex.org/W2038089917","https://openalex.org/W2055302917","https://openalex.org/W2082285524","https://openalex.org/W2096408963","https://openalex.org/W2101196304","https://openalex.org/W2101915367","https://openalex.org/W2121658301","https://openalex.org/W2126952943","https://openalex.org/W2140372825","https://openalex.org/W2151074277","https://openalex.org/W2158782408","https://openalex.org/W2166960375","https://openalex.org/W2593532771","https://openalex.org/W2761474635","https://openalex.org/W2810791255","https://openalex.org/W2944115378","https://openalex.org/W2972930514","https://openalex.org/W2992868823","https://openalex.org/W3003653881","https://openalex.org/W3037010519","https://openalex.org/W4292259019","https://openalex.org/W4294310659","https://openalex.org/W4375798892","https://openalex.org/W4399469378","https://openalex.org/W4401413737","https://openalex.org/W4401416852","https://openalex.org/W4409129606"],"related_works":[],"abstract_inverted_index":{"Reasoning":[0],"about":[1],"rolling":[2],"and":[3,115,128,145,162,168],"sliding":[4,114],"contact,":[5],"or":[6],"roll-slide":[7,25,38,57],"contact":[8,26,39,58,113,163,172],"for":[9,13,148],"short,":[10],"is":[11],"critical":[12],"dexterous":[14,63,81],"manipulation":[15,64],"tasks":[16],"that":[17,102,137],"involve":[18],"intricate":[19],"geometries.":[20],"But":[21],"existing":[22],"works":[23],"on":[24,29,51,60,158],"mostly":[27],"focus":[28],"continuous":[30],"shapes":[31],"with":[32,98,153],"differentiable":[33],"parametrizations.":[34],"This":[35],"work":[36,156],"extends":[37],"modeling":[40],"to":[41,54,65,104,165],"manifold":[42],"meshes.":[43,150],"Specifically,":[44],"we":[45,79,118],"present":[46],"an":[47,72],"integration":[48],"scheme":[49],"based":[50],"geodesic":[52],"tracing":[53],"first-order":[55],"time-integrate":[56],"directly":[59],"meshes,":[61],"enabling":[62],"reason":[66],"over":[67],"high-fidelity":[68],"discrete":[69],"representations":[70],"of":[71,83],"object's":[73],"true":[74],"geometry.":[75],"Using":[76],"our":[77,120,138],"method,":[78],"planned":[80],"motions":[82],"a":[84,99,123,129,154],"multi-finger":[85],"robotic":[86],"hand":[87],"manipulating":[88],"five":[89],"objects":[90],"in-hand":[91],"in":[92,143],"simulation.":[93],"The":[94,134],"planning":[95],"was":[96],"achieved":[97],"least-squares":[100],"optimizer":[101],"strives":[103],"maintain":[105],"the":[106,141],"most":[107],"stable":[108],"instantaneous":[109],"grasp":[110],"by":[111],"minimizing":[112],"spinning.":[116],"Then,":[117],"evaluated":[119],"method":[121,139],"against":[122],"baseline":[124,130],"using":[125,131],"collision":[126],"detection":[127],"primitive":[132],"shapes.":[133],"results":[135],"show":[136],"performed":[140],"best":[142],"accuracy":[144],"precision,":[146],"even":[147],"coarse":[149],"We":[151],"conclude":[152],"future":[155],"discussion":[157],"incorporating":[159],"multiple":[160],"contacts":[161],"forces":[164],"achieve":[166],"accurate":[167],"robust":[169],"mesh-based":[170],"surface":[171],"modeling.":[173]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-24T00:00:00"}