Embodied geometric intelligence (EGi) for contact in robots

Tafrishi, Seyed ORCID: https://orcid.org/0000-0001-9829-3144 2025. Embodied geometric intelligence (EGi) for contact in robots. Presented at: 5th International Conference on Embodied Intelligence (EI 2025), Cambridge University, 2025.

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Abstract

We introduce embodied geometric intelligence (E G i), a paradigm in which a robot’s morphology and passive compliance become active participants in perception, control, and manipulation. Leveraging underactuated or deformable bodies, soft robots exploit geometric cues in contact and environmental compliance to achieve traversal, grasping, and shape morphing without relying solely on onboard sensing or complex con- trollers. The term “geometry” traces to the Latin geometrıa, “ge” (land) + “metrıa” (measurement), highlighting knowledge acquired through contact. We formalize this approach using a curvature–compliance model unified with Montana’s contact kinematics, and we analyse the “dead fish in a stream” exemplar as a canonical case of geometry- driven control. Conceptual and mathematical results indicate that geometry-driven behaviors yield robustness and adaptability in dynamic, unstructured environments. This work lays the groundwork for a reimagined embodied intelligence that integrates geometry, physics, and control into a cohesive adaptive body.

Item Type:	Conference or Workshop Item (Paper)
Status:	Unpublished
Schools:	Schools > Engineering
Date of Acceptance:	15 November 2025
Last Modified:	09 Jan 2026 15:30
URI:	https://orca.cardiff.ac.uk/id/eprint/183466

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