Distance Dependent Torque

Distance-dependent torque research focuses on understanding and controlling the torques experienced by robots and other systems as a function of their distance from surrounding objects or surfaces. Current research emphasizes developing robust control algorithms, including those based on linear feedback, transformers, and Gaussian processes, to accurately estimate and compensate for these torques using various sensor modalities (e.g., cameras, force-torque sensors, proprioceptive sensors). This work is crucial for improving the dexterity and safety of robots in complex environments, enabling tasks such as precise manipulation, stable locomotion, and safe close-proximity operations in constrained spaces. The resulting advancements have implications for diverse fields, including robotics, human-robot interaction, and minimally invasive surgery.