K-VARK: Kernelized Variance-Aware Residual Kalman Filter for Sensorless Force Estimation in Collaborative Robots

Oğuzhan Akbıyık, Naseem Alhousani, Fares J. Abu-Dakka

Reliable estimation of contact forces is crucial for ensuring safe and precise interaction of robots with unstructured environments. However, accurate sensorless force estimation r…