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cs.RO2026
Learning-Enhanced Observer for Sensorless Task-Null-Space Compliant Control
Nuo Chen, Ya-Jun Pan, Onur Toker
This paper presents a novel framework integrating a robust wrench observer with a hybrid pose and force controller for physical Human-Robot Interaction (pHRI). In pHRI tasks, robot…
cs.RO2026
Human-Robot Interaction via Meta-Learning Based Mode Recognition and Adaptive Control
Nuo Chen, Ya-Jun Pan
In human-robot interaction (HRI) tasks, humans may interact with the robot in either an active guiding or passive following state, resulting in distinct control objectives for each…