Torque

Ask about this topic

Momentum

17 papers in the last four weeks, up 143% on the four weeks before. 0.2% of all new papers.

Jul 13Week of Sep 28
View on map

Latest papers 77

All topics
CardsList

  1. General Performance Guarantee for Human Torque Estimation-Based Task-Agnostic Assistive Exoskeleton Control

    Sep 30, 2026Duy Hoang, Bastien Berret, Olivier Bruneau +1ExoskeletonTorque

    Universit´e Paris-Saclay, CNRS, ENS Paris-Saclay, LMF, 91190 Gif-sur-Yvette, France · Universit´e Paris-Saclay, Inria, CIAMS, 91190 Gif-sur-Yvette, France · Universit´e Paris-Saclay, ENS Paris-Saclay, LURPA, 91190 Gif-Sur-Yvette, France

  2. HACo: Learning Haptic Active Compliance for Force-Aware Dexterous Manipulation

    Sep 29, 2026Naisheng Ye, Yinzhe Zhou, Junkai Zhao +5Haptic FeedbackDexterous Manipulation

    The University of Hong Kong, Hong Kong SAR, China · Beijing Academy of Artificial Intelligence (BAAI), Beijing, China · Johns Hopkins University, Baltimore, MD, USA

  3. MagNav: A Dual-Core Magnetic Track Guidance Framework for Lighting-Invariant Navigation in Two-Wheeled Robots

    Sep 28, 2026Arpita Kumari, Anupam Chatterjee, Richa SrivastavaAutonomous NavigationObject Goal Navigation

    Department of Electronics and Communication Engineering Krishna Institute of Engineering & Technology (KIET), Ghaziabad, Delhi-NCR, Uttar Pradesh, India.

  4. TORQUE: Optimizing What (not) to Quantize Before and After Rotation

    Sep 28, 2026Ran Ben Basat, Michael Mitzenmacher, Shay VargaftikKey-Value Cache CompressionTop-K

    University College London · Harvard University · VMware Research by Broadcom

  5. A Disk-Shaped Magnetoelastic Torque Sensor for Robotic Joints Using Permanent Magnetization

    Sep 27, 2026Bruno Brajon, Enrico Gasparin, Nicole Yazigy +5TorqueMagnetic Tunnel Junction

    Melexis Technologies SA, Bevaix, Switzerland · CSEM SA, Neuchˆatel, Switzerland

  6. Simple Torque-Observation Alignment for Zero-Shot Sim-to-Real Grasping with a Direct-Drive Gripper

    Sep 24, 2026Doyoung Kim, Edgar Lee, Hyeonsun Park +4TorqueSim-To-Real Reinforcement Learning

    Department of Mechanical Engineering, Sogang University, Seoul, South Korea

  7. Effects of Assistance Delay on Joint Mechanics and Energetics in Biological Torque Control of a Hip Exoskeleton

    Sep 21, 2026Jimin An, Ryan Lee, Jingshu Peng +2ExoskeletonTorque

    Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, 15213 USA

  8. Robotic Valve Turning: Axial Misalignment Correction Using Reaction Torque Feedback

    Sep 21, 2026Amit Kumar, Sri Harsha Turlapati, Gautami Golani +3Torque

    School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore · School of Science and Technology, Singapore University of Social Sciences, Singapore · Centre for Systems and Control, Indian Institute of Technology Bombay, Mumbai, India +1

  9. Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation

    Sep 21, 2026Fukang Liu, Yipu Chen, Jaehwi Jang +3TorqueOffline Reinforcement Learning

    Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA

  10. Design and Control of a Cable-Driven Switchable Actuator with Torque/Tension Dual Modes for Exoskeletons

    Sep 20, 2026YuanLong Ji, Xu Liu, Xinyuan Cai +8ExoskeletonTorque

    School of Biological Science and Medical Engineering, Beihang University; the Key Laboratory of Biomechanics and Mechanobiology (Beihang University), Ministry of Education; Key Laboratory of Innovation and Transformation of Advanced Medical Devices, Ministry of Industry and Information Technology; National Medical Innovation Platform for Industry-Education Integration in Advanced Medical Devices (Interdiscipline of Medicine and Engineering), Beihang University, Beijing, 100191, China · School of Engineering Medicine, Beihang University, Beijing, 100191, China · School of Physics and Mechanical and Electrical Engineering, Longyan University, Longyan, 364012, China

  11. Feasibility and Singularity in High-Order Safety-Critical Control for Quadrotor UAVs

    Sep 16, 2026Omayra Yago Nieto, Leonardo ColomboQuadrotorControl Barrier Functions

  12. LUMO: Designing Luminous Contact Morphology for Repeatable Whole-Finger Contact Observation

    Sep 16, 2026Dong Ho Kang, Youngsu Ko, Luis SentisFingerGround Reaction Forces

    The University of Texas at Austin, Austin, TX, USA

  13. Energy-Regularized Imitation Learning for Force- and Work-Aware Robotic Manipulation

    Sep 16, 2026Toshiki Otani, Hiromu Taketsugu, Norimichi UkitaRobotic Manipulation PoliciesRobotic Manipulation

    Toyota Technological Institute, Japan

  14. Optimized Wrench Polytope Analysis for Real-Time Stability Control of Legged Robots in Complex Multi-Contact Configurations

    Sep 15, 2026Friedrich Graaf, Elias Birkefeld, Christian Eichmann +5Legged RobotsTorque

    FZI Research Center for Information Technology, Karlsruhe, Germany · Machine Intelligence and Robotics Lab (MaiRo), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany

  15. Assistance Torque Estimation via Dynamics-Aware Optimization for Lower-Limb Exoskeleton in Complex Environments

    Sep 14, 2026Xiao-Yin Liu, Guotao Li, Weiqun Wang +1ExoskeletonTorque

    State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China. · The School of Artificial Intelligence, University of Chinese Academy Sciences, Beijing, China.

  16. Control Architecture for Safe Grasping of Fragile Objects Using a Coarse Position-Controlled Gripper

    Sep 14, 2026Marko Pavlic, Moritz Geier, Timo Markert +1Robotic GraspingGripper

    Machine Vision and Perception Group, Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich, Munich, Germany · Resense GmbH, Klingenberg, Germany · Semantic Information Systems Group, Osnabrück University, Osnabrück, Germany

  17. A Data-Driven Distributed Control Scheme: Learning Multi-Objective Agent-Based MPC for Path-Tracking

    Sep 14, 2026Jiaming Zhong, Reza Valiollahi Mehrizi, Yash Vardhan Pant +1Model Predictive ControlData-Driven

    Mechatronic Vehicle Systems (MVS) Lab, Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Ave West, Waterloo ON, N2L3G1 Canada · Control, Learning, and Logic (CL2) group, Department of Electrical and Computer Engineering, University of Waterloo, 200 University Ave West, Waterloo ON, N2L3G1 Canada

  18. Real-Time Dynamics-Based Torque-Sampling MPPI for Compliant and Force Aware Manipulation

    Sep 2, 2026Euncheol Im, Taehyun Kim, Yonghwan Oh +2Model Predictive Path IntegralTorque

    The Center for Humanoid Research, Korea Institute of Science and Technology (KIST), 02792 Seoul, South Korea · The School of Electrical Engineering, Korea University, 02841 Seoul, South Korea

  19. Behavior--Realization Separation for Constrained Physical Human--Robot Interaction

    Sep 1, 2026Yongyan CaoHuman-Robot InteractionTorque

    Voryx Robotics LLC, San Jose, CA 95136, USA

  20. A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles

    Aug 31, 2026Jingcheng Jiang, Yifang Zhang, Nikos G. TsagarakisSoft Pneumatic ActuatorsTorque

    Humanoids and Human Centered Mechatronics (HHCM) Research Line Istituto Italiano di Tecnologia Genova, Italy

  21. Generative Action-Chunk Sampling for Adaptive Stiffness Control in Physical Human-Robot Collaboration

    Aug 26, 2026Aoi Otake, Ferdinand Hartmann, Ko Igari +1Human-Robot CollaborationAction Generation

    School of Engineering and Design, Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama, Kanagawa 223-8522, Japan

  22. FAM-DQ: A Dual-Quadrotor-Based Fully Actuated Aerial Manipulator for High-Torque Interaction

    Aug 13, 2026Xuwei Yang, Ruoyu Ren, Ziqian GuoAerial ManipulationTorque

  23. Hip Energized Monopedal Hopping

    Aug 11, 2026Shane Rozen-Levy, Griffon McMahon, Daniel KoditschekTorque

    GRASP Lab, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA · GRASP Lab, Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA

  24. Learning human joint torques from pixels

    Aug 10, 2026Chen Chen, Rui ChengBiomechanicsTorque

    Beijing Normal-Hong Kong Baptist University, Zhuhai, China · AnHui University, Hefei, China

  25. SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models

    Aug 6, 2026Maximilian Stölzle, Solange Gribonval, Daniel Feliu-Talegon +9Soft RoboticsCosserat Rod Theory

    Delft University of Technology, Delft, The Netherlands · Italian Institute of Technology, Genoa, Italy · Massachusetts Institute of Technology, Cambridge, MA, USA +1

  26. ATP: Anatomical Torque with Passivity-based Control Framework for Safe Upper-Limb Exoskeleton Assistance

    Aug 6, 2026Yu Chen, Gong Chen, Xiang LiExoskeletonTorque

    Department of Automation, Tsinghua University, China · Shenzhen MileBot Robotics Co., Ltd, China

  27. DART: Dual-Axis Airborne Reachability-Gated Torque-Reaction for Off-Road Vehicle Jumps

    Jul 31, 2026Yu Hu, Fangzhou Zhao, Mingyuan Sang +7Standard Traffic Speed BenchmarksTorque

    Research Center for Intelligent Computing Systems, Institute of Computing Technology, CAS, Beijing 100190, China. · School of Computer Science and Technology, University of Chinese Academy of Sciences, Beijing 100049, China. · Dong Feng Off-Road Vehicle Co., Ltd, Shiyan 442000, China.

  28. TacWAM: Anchor-Guided World Action Model with Mechanics-Aware Tactile Prediction

    Jul 30, 2026Lei Jin, Yiding Ma, Xin Zhang +3Tactile World ModelEfficient World-Action Model

    1Tsinghua University · 2Manifold AI

  29. Steeringless Drifting: Differential-Torque Control of a Four-Wheel Independently Driven Vehicle

    Jul 26, 2026Sheng Zhao, Zexin Wu, Dongyang Zhou +2Vehicle DynamicsWheel

    School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China · School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore

  30. Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics

    Jul 24, 2026Lingxiao Meng, Bi-Ke Zhu, Xuheng Gao +5Impedance ControlTorque

  31. Towards Torque-Driven Reinforcement Learning for Quadruped Locomotion

    Jul 20, 2026Jordan Dowdy, Jean Chagas VazLegged RobotsLocomotion

    Department of Electrical and Computer Engineering at the University of Louisville. · Faculty of Electrical and Computer Engineering, University of Louisville, Louisville, KY, 40208, USA.

  32. Beyond Implicit Force: Evaluating Explicit Force-Torque Proxies in Action Chunking with Transformers

    Jul 16, 2026King Hang Wong, Lingqiao Liu, Feras DayoubTorqueTeleoperation

    Australian Institute for Machine Learning (AIML), Adelaide University, Adelaide, SA 5005, Australia

  33. PinFT: Miniature 5-Axis Force/Torque Sensor Embeddable to Tweezer-like Tool

    Jul 10, 2026Leo King, Jenny Chen, Tae Myung HuhGround Reaction ForcesGripper

    Dept. of Electrical and Computer Engineering, University of California Santa Cruz, Santa Cruz, CA, USA.

  34. Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation

    Jul 6, 2026Zhe Zhao, Zhibin Li, Yilin Ou +1Contact-Rich Dexterous ManipulationSim-To-Real Reinforcement Learning

    State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications, China · University College London, United Kingdom

  35. Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation

    Jul 3, 2026Chenyang Ma, Yunchao Yao, Zhenyu Wei +3Contact-Rich Dexterous ManipulationProprioception

    University of North Carolina at Chapel Hill

  36. Enhancing Robustness in Robot-Environment Interactions through Passive Compliant Degrees of Freedom: A Hybrid Position-Force Control Approach with Feedback Linearization

    Jul 1, 2026Rahman Ardakanian, Iman Kardan, AliAkbar Akbari +1TorqueRobust Control

    Department of Mechanical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran · Center of Advanced Rehabilitation and Robotics Research, Department of Mechanical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran · Department of Computer Engineering, Ne. C, Islamic Azad University, Neyshabur, Iran

  37. Robust Operational Space Control with Conformal Disturbance Bounds for Safe Redundant Manipulation

    Jul 1, 2026Wenhua Liu, Fan Zhang, Qin LinRobotic ManipulatorControl Barrier Functions

    Department of Engineering Technology and the Department of Electrical and Computer Engineering, University of Houston, Houston, TX 77004, USA.

  38. RigPI: Dynamic Parameter Identification of Rigid Body via VLM-Seeded Differentiable Simulation

    Jun 23, 2026Xincheng He, Rongrong Zhang, Wei Jiang +1Rigid-Body DynamicsRobotic Manipulation

    Way Robotics

  39. Transformer-Based Warm-Starting for Feasible and Optimal Terminal Approach to Tumbling Objects with Space Manipulators

    Jun 15, 2026Yuji Takubo, Maximilian Adang, Mac Schwager +1Generative Control PoliciesTorque

    Department of Aeronautics and Astronautics, Stanford University. Stanford, CA, 94305.

  40. ExoTraj: A General Lower-limb Exoskeleton Assistance Policy for Complex Environments

    Jun 15, 2026Xiao-Yin Liu, Guotao Li, Long Sun +2ExoskeletonTorque

    The State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, China · The School of Artificial Intelligence, University of Chinese Academy of Sciences, China · The School of Automation and Intelligence, Beijing Jiaotong University, China +1

  41. Friction Characterization of a Cable-Driven Differential Actuation System for Lower-Limb Exoskeletons

    Jun 14, 2026Alberto Maria Nobili, Fabio Salsedo, Alessandro FilippeschiTorqueExoskeleton

    Institute of Mechanical Intelligence and with the Department of Excellence in Robotics and AI, Sant’Anna School of Advanced Studies, Pisa, Italy · Wearable Robotics s.r.l., Pisa, Italy

  42. Energy-Efficient Arm Reaching for a Humanoid Robot via Deep Reinforcement Learning with Identified Power Models

    Jun 14, 2026Nestor N. Deniz, Simon Parsons, Fernando Auat CheeinTorqueAgricultural Robotics

    Engineering Department at Harper Adams University, Newport, Shropshire TF10 8NB, UK · Lincoln Institute for Agri-Food Technology and Lincoln Centre for Autonomous Systems

  43. Identification of a Physics-Based Electrical Power Consumption Model for the Unitree G1 Humanoid Arm

    Jun 14, 2026Nestor N. Deniz, Sebastian Vega, Simon Parsons +1TorqueEnergy Consumption

    Engineering Department at Harper Adams University, Newport, Shropshire TF10 8NB, UK · Lincoln Institute for Agri-Food Technology and Lincoln Centre for Autonomous Systems

  44. Interaction Dynamics for Dexterous Manipulation

    Jun 12, 2026Yongyan CaoDexterous ManipulationTorque

    Y. Cao is with Voryx Robotic LLC, San Jose, CA 95136, USA

  45. Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback

    Jun 12, 2026Litian Liang, Jingxi Xu, Xinda Qi +7ExoskeletonTeleoperation

    1Ant Group · 2Stanford University

  46. Interaction Dynamics MPC for Knee Rehabilitation Exoskeletons: A Closed-Loop SEA Outer-Loop Study

    Jun 11, 2026Yongyan Cao, Jinshan TangExoskeletonImpedance Control

    Voryx Robotics · George Mason University, Dept. of Health Administration and Policy

  47. FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning

    Jun 10, 2026Steven Oh, Jason Jingzhou Liu, Tony Tao +5Ground Reaction ForcesTorque

    Carnegie Mellon University · Waseda University

  48. Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity Sensing, Force/Torque and Pressure Map Estimation

    Jun 10, 2026Gabriel Arslan Waltersson, Yiannis KarayiannidisTactileSlipsense

    Department of Electrical Engineering, Chalmers University of Technology, SE-412 96 Gothenburg, Sweden · Department of Automatic Control, Lund University, Sweden

  49. An Opticalmechanics Framework for Dynamic Estimation of Multibody Systems

    Jun 8, 2026Banglei Guan, Xuanyu Bai, Qingquan Chen +5Rigid-Body DynamicsTorque

    National University of Defense Technology

  50. FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation

    Jun 7, 2026Haotian He, Zeyu Yan, Qipeng Liu +2Tactile World ModelEfficient World-Action Model

    School of Mathematical Sciences, Peking University · School of Artificial Intelligence, Shanghai Jiao Tong University.

  51. TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation

    Jun 4, 2026Dongwon Son, Florian Shkurti, Jason Lee +3TorqueRobotic Manipulation Policies

    1KAIST · *Work done during an internship at the Allen Institute for AI. · 2Allen Institute for AI +2

  52. Hybrid Dynamics Modeling for a Flexible 2-DoF Robotic Arm

    Jun 2, 2026Maciek Popik, Daniel Yang, Mahdis BishebanRigid-Body DynamicsTorque

    Dept. of Mechanical and Manufacturing Eng at the Schulich School of Engineering, University of Calgary, Alberta, Canada · Intelligent Dynamics and Control Lab, University of Calgary, Alberta, Canada

  53. Adaptive PD Gains for Energy-Conscious Control in Physical Human-Robot Interaction

    May 30, 2026Danyal Saqib, Francisco Andrade Chavez, Marie CharbonneauAdaptive ControlTorque

    Department of Electrical and Computer Engineering University of British Columbia Vancouver, Canada · Department of Engineering Thompson Rivers University Kamloops, Canada · Department of Mechanical and Manufacturing Engineering University of Calgary Calgary, Canada

  54. Actuator-Aware Inverse Kinematics with Joint-Limit Admissibility for Torque-Controlled Redundant Robots

    May 29, 2026Mohammad Dastranj, Mahdi Hejrati, Jouni MattilaInverse KinematicsTorque

    Unit of Automation Technology and Mechanical Engineering, Faculty of Engineering and Natural Sciences Tampere University, 33720 Tampere, Finland

  55. Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints

    May 27, 2026Faisal Lawan, Xiaoran Han, Joaquin Carrasco +2Impedance ControlControl Barrier Functions

    Department of Electrical and Electronic Engineering, The University of Manchester, M13 9PL, United Kingdom

  56. How Noisy Poses Break Inverse Dynamics: Analysis and Mitigation for Video-Based Joint Torque Estimation

    May 23, 2026Donghyun Kim, Chanyoung Kim, Eunseo Jeong +2Inverse DynamicsTorque

    Emory University · Yonsei University

  57. Spacetime Optimal-Transport Attention for Visuo-Haptic Imitation Learning of Contact-Rich Manipulation

    May 19, 2026Yue Feng, Weicheng Huang, I-Ming ChenMotion ImitationTorque

    Robotics Research Centre, School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798 · Wings Robotics

  58. Bilateral Teleoperation with Compliant 6-DOF Pose-and-Force Sensing

    May 19, 2026Yue Feng, Weicheng Huang, I-Ming ChenTeleoperationTorque

    Robotics Research Centre Nanyang Technological University Singapore · WinGs Robotic USA

  59. Structured Jacobian Construction for Motion Optimization with High-Order Time Derivatives in Multi-Link Systems

    May 15, 2026Taiki Ishigaki, Ko Ayusawa, Eiichi YoshidaJacobianImplicit Differentiation

    Tokyo University of Science · National Institute of Advanced Industrial Science and Technology

  60. Residual Reinforcement Learning for Robot Teleoperation under Stochastic Delays

    May 14, 2026Kaize Deng, Zewen YangTeleoperationRobot Systems

    Technical University of Munich, 80333 Munich, Germany