arxivcs.RO2026-07-20
Manifold-Guided Motion Planning for Tight Assemblies
Dror Livnat, Michael M. Bilevich, Michal Kleinbort, Dan Halperin
Motion planning for rigid-body assembly poses a fundamental challenge in robotics due to tight geometric constraints. In such scenarios, feasible motions often require passing through (near-)zero clearance configurations in which the parts are tightly constrained by contact. In t…