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cs.RO2026
Robotic Valve Turning: Axial Misalignment Correction Using Reaction Torque Feedback
Amit Kumar, Sri Harsha Turlapati, Gautami Golani +3
In this work, we propose a haptic update control law that uses reaction torques to correct axial misalignment during robotic valve manipulation. Unlike vision-based estimates, whic…
cs.RO2025
Haptic-based Complementary Filter for Rigid Body Rotations
Amit Kumar, Domenico Campolo, Ravi N. Banavar
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic in…