Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations.

Tao Pang Jack Umenberger Russ Tedrake

Published in: ICRA (2021)

Keyphrases

position control
real time
contact force
neural network
case study
robotic systems
control scheme
robotic manipulator
internal and external
data sets
computer assisted
control strategy
end effector
measurement error
sensor measurements
tactile sensing