AFRG estimates grinding force from contact microphone audio for closed-loop robotic control, delivering 4-fold better consistency across disc conditions at roughly 200 times lower cost than force sensors.
Hybrid position/force control of manipulators
3 Pith papers cite this work. Polarity classification is still indexing.
3
Pith papers citing it
fields
cs.RO 3years
2026 3verdicts
UNVERDICTED 3representative citing papers
PaCo-VLA adds an independent passivity shield to VLA outputs so that semantic proposals for compliance and admittance can be used in contact-rich tasks without violating passivity or causing damage.
Passive spring-damper compliance at the end-effector with hybrid control reduces force and velocity error variances by 25-41% in 2-DOF manipulator simulations under fixed and varying contacts.
citing papers explorer
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Acoustic Feedback for Closed-Loop Force Control in Robotic Grinding
AFRG estimates grinding force from contact microphone audio for closed-loop robotic control, delivering 4-fold better consistency across disc conditions at roughly 200 times lower cost than force sensors.
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PaCo-VLA: Passivity-Shielded Compliance Prior for Contact-Rich Vision-Language-Action Manipulation
PaCo-VLA adds an independent passivity shield to VLA outputs so that semantic proposals for compliance and admittance can be used in contact-rich tasks without violating passivity or causing damage.
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Enhancing Robustness in Robot-Environment Interactions through Passive Compliant Degrees of Freedom: A Hybrid Position-Force Control Approach with Feedback Linearization
Passive spring-damper compliance at the end-effector with hybrid control reduces force and velocity error variances by 25-41% in 2-DOF manipulator simulations under fixed and varying contacts.