Contact Wrench Estimation

Ask about this topic

Momentum

0 papers in the last four weeks, with none the four weeks before. 0.0% of all new papers.

Jul 6Week of Sep 21
View on map

Latest papers 16

All topics
CardsList

  1. Residual Wrench Certification and Margin-Aware Control Synthesis for Aerial Physical Interaction

    Sep 30, 2026Abhimanyu Khadga, Abhinav Sinha, Shashi Ranjan KumarQuadrotorContact Wrench Estimation

    Guidance, Autonomy, Learning, and Control for Intelligent Systems (GALACxIS) Lab, Department of Aerospace Engineering, University of Cincinnati, OH 45221, USA · Intelligent Systems and Control (ISaC) Lab, Department of Aerospace Engineering, Indian Institute of Technology Bombay, Powai, Mumbai 400076, India

  2. Wrench-ACT: Enhancing Robot Policies for Contact Rich Behavior Using Direct Wrench Control

    Sep 29, 2026Johannes Hechtl, Yannik Blei, Simon Ball +5Robotic Manipulation PoliciesContact Wrench Estimation

    Siemens Research and Predevelopment · Department of Computer Science and Artificial Intelligence, University of Technology Nuremberg, Germany

  3. Contact-Persistent Full Actuation for Aerial Physical Interaction

    Jul 22, 2026Abhimanyu Khadga, Abhinav Sinha, Shashi Ranjan KumarContact Wrench EstimationRigid-Body Dynamics

    Guidance, Autonomy, Learning, and Control for Intelligent Systems (GALACxIS) Lab, Department of Aerospace Engineering and Engineering Mechanics, University of Cincinnati, OH 45221, USA · Intelligent Systems and Control (ISaC) Lab, Department of Aerospace Engineering, Indian Institute of Technology Bombay, Powai, Mumbai 400076, India

  4. Foresight Residual RL for Long-Horizon Robot Manipulation with Vision-Language-Action Models

    Jul 17, 2026Yuhan Liu, Xinyu Zhang, Litao Liu +1Robot SystemsContact Wrench Estimation

    Department of Computer Science, Rutgers University

  5. Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots

    Jul 17, 2026Wenzhe Tong, Jonathan Mi, Xili Yi +2TactileContact Wrench Estimation

    Robotics Department, University of Michigan, Ann Arbor, MI, 48109, USA

  6. Task-Adaptive Design of Modular Aerial Manipulators Under Airflow Exposure Constraints

    Jul 10, 2026Mengguang Li, Heinz KoepplAerial RobotsContact Wrench Estimation

    Department of Electrical Engineering and Information Technology, Technische Universität Darmstadt, 64287 Darmstadt, Germany

  7. FLOAT Drone for Physical Interaction: Lateral Airflow Reduction, Wrench Modeling, and Adaptive Control

    Jul 5, 2026Junxiao Lin, Kehan Zhou, Shuhang Ji +4Autonomous DronesAerodynamics

    Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China · Differential Robotics Technology Company, Hangzhou 311100, China

  8. Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration

    Jun 22, 2026Xinghao Zhu, Zixi Liu, Shalin Jain +17Contact-Rich Dexterous ManipulationDexterous Manipulation

    NVIDIA

  9. Towards Estimating Normal and Shear Interface Pressures in Prosthetic Sockets via Least Squares and Mechanics Modeling

    Jun 2, 2026Axel González Cornejo, Tianhao Yu, Chi Hwan Lee +1Ground Reaction ForcesAbox Abduction Problem

  10. Tactile-Proprioceptive Sensor Fusion for Contact Wrench Estimation in Whole-Body Physical Human-Robot Interaction

    May 27, 2026Junha Min, Junghyeon Ma, Jiwung Kwon +3TactileProprioception

    Department of Robotics and Mechatronics Engineering, DGIST (Daegu Gyeongbuk Institute of Science and Technology), Daegu 42988, Republic of Korea · Kinetic Intelligent Machine Lab (KIMLAB), University of Illinois Urbana-Champaign, Champaign, Illinois 61801, USA

  11. Autonomous Laparoscope Control through Unified Mechanics-Based Representation of Multimodal Intraoperative Information

    May 6, 2026Xiaojian Li, Jin Fang, Yudong Shi +6Surgical RobotsContact Wrench Estimation

    School of Management and the Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei 230009, China · Department of Thoracic Surgery, Shanghai Pulmonary Hospital, School of Medicine, Tongi University, Shanghai 200433, China · Department of Thoracic Surgery, Changhai Hospital, Shanghai 200433, China

  12. SixthSense: Task-Agnostic Proprioception-Only Whole-Body Wrench Estimation for Humanoids

    May 2, 2026Xingzhou Chen, Xiayan Xu, Yan Ning +8ProprioceptionContact Wrench Estimation

    The Hong Kong University of Science and Technology, Hong Kong SAR, China · Zhejiang University, Hangzhou, China · Tencent Robotics X, Shenzhen, China

  13. Interaction Forces and Internal Loads in Parallel Manipulators with Actuation Redundancy

    Apr 29, 2026Joshua Flight, Clément GosselinTorqueContact Wrench Estimation

  14. FingerEye: Learning Dexterous Manipulation with Continuous Vision-Tactile Sensing

    Apr 22, 2026Zhixuan Xu, Yichen Li, Xuanye Wu +2Contact-Rich Dexterous ManipulationTactile

    National University of Singapore · RoboScience · 1National University of Singapore 2RoboScience +5

  15. Terminal Wrench: A Dataset of 331 Reward-Hackable Environments and 3,632 Exploit Trajectories

    Apr 19, 2026Ivan Bercovich, Ivgeni Segal, Kexun Zhang +3ExploitationMalware

    1Fewshot Corp · *Independent Researcher · 2Carnegie Mellon University

  16. Frequency-aware decomposition learning for sensorless wrench estimation in vibration-rich robotic contact

    Apr 14, 2026Hyeonbeen Lee, Min-Jae Jung, Tae-Kyeong Yeu +4Contact Wrench EstimationVibration

    Department of Mechanical Engineering, Kyung Hee University, South Korea