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--> [Submitted on 31 Jul 2026] Title:Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations View a PDF of the paper titled Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations, by Nataliya Nechyporenko and 2 other authors View PDF HTML (experimental) 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. Subjects: Robotics (cs.RO) Cite as: arXiv:2608.00263 [cs.RO] (or arXiv:2608.00263v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.00263 arXiv-issued DOI via DataCite Journal reference: ICRA 2026 Workshop on Contact-Rich Control and Representation Submission history From: Nataliya Nechyporenko [view email] [v1] Fri, 31 Jul 2026 20:11:14 UTC (1,027 KB) Full-text links: Access Paper: View a PDF of the paper titled Compliant Sphere Lattice Contact: Distributed Contact Modeling for Sphere-Based Robot Representations, by Nataliya Nechyporenko and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)