# A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation

arXiv: https://arxiv.org/abs/1705.10664 · HTML: https://mlsanity.com/paper/1705.10664/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 May 2017.

## Built on by (most cited first, 2 of 2)

- [Theseus: A Library for Differentiable Nonlinear Optimization](https://mlsanity.com/paper/2207.09442/) (2022)
- [Planning for Change: Reinforcement Learning Combined with Bounded Extremum Seeking for Robotic Control under Distribution Shift](https://mlsanity.com/paper/2604.01142/) (2026)

## Abstract (arXiv)

Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled manipulator. The inherently stochastic object-to-surface friction distribution is modelled by sampling physically consistent parameters from appropriate distributions, with only one parameter to control the amount of noise. Thanks to the high fidelity and smoothness of convex polynomial models, the mechanics of patch contact is captured while being computationally efficient without mode selection at support points. The motion equations for both single and multiple frictional contacts are given. Simulation based on the model is validated with robotic pushing and grasping experiments.