# Task-Adaptive Friction Margins for Contact Maintenance in Bimanual Non-Prehensile Manipulation

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/s87gr068z0kl91e6aobzo0g5u
- Original: https://arxiv.org/abs/2610.36961

## Summary

The paper proposes using signed friction distance to measure friction margin in force space, and derives a task-adaptive margin from the force correction needed to balance pivot moment deviations during bimanual tilting. The method embeds contact margins into a sequence of second-order cone programs (SOCPs), each yielding a globally optimal contact force solution at a given tilt angle, keeping robot contact forces and pivot contact forces away from the nominal friction boundary. Real-world experiments were executed under variations in object properties and model mismatch, and comparisons against fixed-margin and no-margin settings show the importance of adjusting the margin to task demand.